The ADA is for employment, government services, and transportation, plus a bit more, rather than housing, but I think they might have some info for you..
Contact your local Disabilities Rights legal group, the local DIRECT CENTER FOR INDEPENDENT LIVING, and/or the ADA 800 hotline for guidance.
Be sure to tell them you are a _private_ condominium association. (You are NOT a private residence)
from:
http://commdocs.house.gov/committees/judiciary/hju29870.000/hju29870_0.HTM
(almost at the bottom
"First, let us emphasize that the Americans with Disabilities Act is a landmark piece of legislation that guarantees equal opportunity for individuals with disabilities in the areas of employment, state and local government services, public transportation, privately operated transportation available to the public, places of public accommodation and telephone services offered to the general public.
This question may fall under the HUD and/or the FAIR HOUSING ACT.
google "Fair housing act and condominium associations"
http://www.njlawblog.com/2006/10/articles/community-associations/how-the-fair-housing-act-affects-community-associations/
The Fair Housing Act, 42 U.S.C. ยง 3601 et seq., prohibits discrimination in housing and makes it illegal to refuse to provide housing or housing-related services based on numerous classes, including race or color, national origin, religion, sex, handicap, and familial status. As amended, the Act is applicable to condominium associations and townhouses, as well as garden apartments, multi-family dwellings and dormitories. The penalties for violations of the Act can be severe; up to $1,000.00 or a period of incarceration for one (1) year, or, if bodily injury results from the violation, the penalty could increase to up to $10,000.00 and incarceration for up to ten (10) years.
There may be a "fair housing" law office that you could contact you.
Also be aware that your state may have laws that would protect the disabled person to a greater degree than federal law. Whichever gives the greater protection is the one that is enforced, so be sure to check for that too, maybe in both Disability law and Fair Housing law.