Hmm, I've not got experience of a debilitation condition. I do have a husband who has a different attitude to me, and I do see some parallels. I'm very on the fence with who is right/wrong here, as I can see you are. I'm not commenting to try to apportion blame, but to help you have an insight into how I might see a similar situation, which might help you unravel what your husband thinks.
So, lets look at a scenario where one partner is incapacitated and so therefore needs help. Lets say in my/DH case , a broken arm. We'd approach it differently.
DH would be - "I've got a broken arm. I can't make my lunch. You need to make my lunch before you go to work. I have a broken arm, I can't do it. Oh and by the way - I want this specific thing, made in this specific way, because, poor me, I have a broken arm. You'll also need to phone work for me, to tell them about my broken arm."
I'd do it for him, because of the broken arm and all, but I must admit, I'd be a bit put out, and if it was a long term situation, I'd end up quite resentful.
I'd be - "I've broken my arm, so can't reach into the cupboards. Would you mind leaving x, y and z out on the counter for me, and get a plate and knife out? Then I can knock myself up some lunch. I might need you to unscrew/loosen the lid of the mayo, as I struggle to do that! And would you mind leaving me the phone close by, because I need to phone work and let them know I've broken my arm. Are there any other calls that need to be made? I might as well make them as I'm in all day with not much to do!"
And that's quite a big difference.
In this scenario you seem to be a little like my DH would be. You are looking at what you can't do, rather than what you can do. You seem to think it's your husbands responsibility to do not only the physical things, but also the thinking for you. You should be taking the mental responsibility for your needs, even when you need your DH to help with some of the physical stuff. So it should be you works out where your lunch box should be stored - somewhere in your reach. It should be you who makes sure that the cola isn't left in the lunch bag, because you can't lift it down with that in. It should be you who knows you must close the bag and makes sure you do, because if something is left in it and open it might smash/spill. None of that stuff is your DH's responsibility.
As I said, I'm not apportioning blame, I'm trying to be constructive, and perhaps give an insight into how your DH feels. But when I read your scenario, whilst I definitely thought that your DH should help you clean up, I also felt you were unfairly expecting him to carry your mental load for you, which is really your own responsibility.
I think it's likely that you are in a situation that has evolved due to poor health, rather than has been planned, and you probably need to have a good, long talk. Both of you should be able to communicate what you need from each other in order to keep the relationship together. I do think the focus should be on what you can do, rather than what you can't, and what DH can do in order to help you do more. There needs to be appreciation of what you do for each other, and kindness towards each other too.