Maybe offer a 2 choices that result in the same thing.
For example "You need to get undressed. You can do it yourself or I can help you. Its your choice" It doesn't work in all situations but I found that it helped. I know it sounds silly but it can make them feel like they have some control over the situation but you are still getting the result you desire.
Hmmm.. That's so crazy, it just might work!