I have not yet taken a "regular" bedroom, but I have taken a "handicapped" bedroom. Although I can't exactly say so, I don't think there is any real difference.

Except - for an AGR award, an accessible bedroom is lower (in points) than a regular bedroom! (In fact, it's the same "cost" as a roomette!)

They normally can only be booked by a "qualified" person, but within (IIRC) 14 days of departure, they are opened to anyone!

Yes, you may not feel right about taking one, but driving 56 MPH in a 55 MPH zone is wrong too.

The only down side is on a single level car, the accessible room is next to the door and near the trucks (wheels). On a Superliner, the accessible room is downstairs, while all the "regular" bedrooms are upstairs.