Autism and the law

My youngest son is now 22 years old and was diagnosed over 15 years ago with Aspergers/mild autism. I can't describe the feelings I have when i see him hurting and know that i can't even attempt to hug him because it will send him into a rage. Simple things like the wrong touch or a simpe hug will bring out what appears to be anger, but I have learned that is how he is wired and how to deal with it. It's difficult to deal with in that I can't bring him out to enjoy some of the things that "NORMAL" people would do, because if he goes off, bystanders won't understand. We go to the movies, but it's normally the earliest feature when the theatre is nearly empty. He'll go shopping with me at times, but only when it's the early morning hours when the store isn't crowded. In appearance he looks like any other 23 year old guy. If someone rubs against him, touches him or grabs him the reaction is flailing/swinging arms and him yelling to not touch him. My wife and I have adjusted our lifestyles to learn to live with the situation, but we constantly worry about what will happen to him when we are gone.