An independent review of the Scottish disability payment has called for the benefit to be simplified and made more accessible.
Led by charity leader Edel Harris, the review calls for automatic entitlement to the benefit in some cases.
The report, commissioned by the Scottish Government, found while the adult disability payment is more "compassionate" than the UK benefit it replaced, some people still face barriers and distress when applying.
Ms Harris welcomed several changes from the previous assessments carried out by the UK Department for Work and Pensions, but said there is more to be done to deliver a human rights-based approach to the benefit that delivers for disabled people.
This review highlights the importance of a system that is not only compassionate, but practical and accessible.
The chairwoman of the Adult Disability Payment Review made more than 50 recommendations to improve the service.
They include embedding a "trauma-informed, stigma-free" approach to assessments, simplifying the application process, improving communication from staff, and reviewing the eligibility criteria.
The report recommends the application process is made easier for those with fluctuating conditions and mental health problems, and calls for welfare advice services to be sustainably funded.
Ms Harris said: "Adult disability payment has been described by many as a step-change - kinder in tone and more dignified in approach.
"But too often, disabled people still find the system difficult to navigate, time-consuming, and anxiety-inducing.
"I heard consistently that if we are to realise social security as an investment in people, it is important to ensure that the eligibility criteria fulfil this goal.
"This review highlights the importance of a system that is not only compassionate, but practical and accessible.
"The recommendations are based on real experiences and a shared commitment to making adult disability payment work better for everyone who needs it."
Social Justice Secretary Shirley-Anne Somerville said: "The Scottish Government's approach to providing social security is a compassionate one, based on dignity, fairness and respect, and I am very encouraged to read the feedback from disabled people that this has been reflected in their positive interactions with Social Security Scotland.
"While the UK Government seeks to make cuts to the vital support disabled people rely on, I want to make clear that we will not cut adult disability payment.
"Instead, we will work to protect and enhance Scotland's social security system, improving on what we have achieved so far.
"I very much appreciate the comprehensive recommendations this report provides for how we can improve adult disability payment."
Ms Somerville said the Scottish Government will "carefully consider all of the recommendations" in the report and provide its initial response by January next year.