Occupational Therapy is sort of like Physical Therapy except it focuses on the ability to do tasks, like getting up from a chair or the balance issues like you mention. Some PT's do a bit of OT work.

Spaulding Rehab Hospital appears to have all the services you need. They have facilities in various areas of the North Shore. Here is a link to Spaulding : http://spauldingrehab.org/conditions...rehabilitation

It sounds like you also need somebody to help you with anxiety. This is a common struggle for people with balance issues. The claustrophobia feeling may be an anxiety like reaction.

The North Shore is a beautiful area. I used to go fishing on the Merrimack out of Newburyport as a kid.