This has nothing to do with asking for a needs assessment from social services. If you're recently out of hospital and struggling sufficiently with daily life you perhaps will qualify for a care package via social services. This is totally separate to anything to do with claiming benefits.
Contact citizens advice for help with claiming benefits if necessary. Are you of working age? Have you been disabled for a while now or is it new? Are you claiming universal credit or do you have a job? Stressful financial circumstances will be making everything else feel worse overall.
You "weren't the best mum"
Well there it is. You weren't adequate as a parent and now they're not the best, most dutiful, children towards you. If H emotionally abused you, he probably did it to them too and by not leaving him, you enabled it. That's not necessarily something you can fix after the event, they're not obligated to forgive you. They've forged their lives without the support they could have had from someone who was the best mum. Now you're having to forge your life without your children's support as you age.
None of this is to say you're a terrible person who everyone dislikes. It's harder to make friends as an adult anyway. It will put people off you though if you appear to be on a downer the whole time. Obviously this thread is just a snapshot of time and perhaps your just having a bad day and aren't like this all the time. Two things that might apply: healthy people shy away from needy people (because they tend to drag them down) and if you're a people -pleaser you'll attract people who just want to use you. Work on yourself if you need to.
Emotional abuse takes time to recover from, a long time sometimes. Have you had any help with that? From women's aid? From some type of therapy? You sound lost. Maybe you're in need of some help to move forward and rebuild your life as a single woman who's children have long since moved out. The empty nest phase of life can be difficult for people with ordinary lives and healthy marriages, never mind on top of the kind of life you've had. There's no shame in needing help.
It does suck being unwell when you live alone and there's nobody to even make you a cuppa. Maybe you can look at your home when you're well again and see if there's changes you can make to set things up better so it still is functional when you're unwell. Lots of people live alone and don't have the type of close relationships where anyone is going to visit them to help when they're unwell. People find ways to manage.