Yes, thankfully, my husband seems okay. The other driver wasn't hurt either. Their vehicle has very little damage where our van's front is sort of crunched. (Hubby took pics & I was sort of shocked that he wasn't hurt.) My husband was 3 car lengths away from the other car when he applied his brakes. Unfortunately there was freezing rain coming down so the roads were slick. He just slid right into the other vehicle's rear bumper.
Oh, yes, they can mod a van so someone in a wheelchair can drive using hand controls. We haven't gotten that done as that's the most expensive option. We've added special air bag shocks, a rack on the back to carry my chair & a heavy duty hitch to hold the rack. The hitch and rack were about $600. The air bag shocks were about $2000 installed. Oh and we bought a small portable air pump to adjust the shocks as needed. That was only about $20 though.