I would recommend that you complain in writing to your employer's human resources department about the co-worker's harassment based on your disability. If your employer does not have a human resources department, you should complain to your supervisor. You should make sure to state in your complaint that you are being harassed because of your disability and provide some examples. Your employer would then be obligated to investigate your claims and take prompt and effective action to end the harassment. Should your employer fail to do so, or if you are retaliated against for complaining, you would have a good legal claim.
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