I don't know very much about your daughter but it may be worth looking into getting an assessment for her to see whether she may be eligible for a Personal Budget from social services. This could provide her with a budget, depending on her needs, where she could employ a PA [personal assistant] to help her to go out and be more independent. The criteria for getting help from social services is very strict but if you don't apply for this help then you won't know what you are entitled to. At our Scope helpline we have an adviser who specialises in social care and would be able to talk you through how to get your daughter assessed for a personal budget.
If your daughter is interested in voluntary work then there is a really good website called Do-it.org. If you put in your details such as where you live and what you are interested in it will come up with a list of opportunities in your area:
I hope that this helps.