Wheelchair accessible bathroom

Good afternoon, For an upcoming bathroom redesign I need to help with interior styling, colors etc.
The shower, toiler, heaters and sink locations are know.
The bathroom need to be wheelchair accessible so we need to position hand rails etc by the toiler and sink etc. Normally wheelchair accessible bathrooms remind most people of hospital bathrooms. Trying to avoid that feel with the use of color etc. Ideally looking for someone with experience in this area, but open to everyone. I you can reply with some examples, that would be great.