I caught part of a discussion about how PIP is failing people. I'll add the link, but here is a precis of what leapt out for me from what the disillusioned nurse who worked as an assessor had to say. I'm furious enough to write all this in spite of very sore fingers.
They have "cheat sheets" to help them cut and paste generic reports. To make life easier, they will use closed questions, so instead of asking about any problems with food preparation, eating etc, they ask "Did you eat yesterday"? If you answer yes (rather likely) you get no points. Similarly, they may stand back to let you open a door, or position a chair so you have to move it. If you do this, in spite of it causing pain, you get no points because you have "no problem" with it.
Worst of all, it seems that there is sometimes deliberate overbooking, so claimants can arrive, in pain, fatigued and stressed, to be told, after waiting, that their assessment is cancelled and will be rebooked.
No spokesman from the DWP was available for the programme. Atos gave an Atossy type reply, Atossing on about " dignity and respect"