Yes, there have been many examples of Members of the House who performed their duties as Representatives and also had a disability.  Below are a few notable examples.

1.) Representative Arthur William Aleshire (OH) 1937-1939: legs were paralyzed from accident

2.) Representative Roswell Peter Bishop (MI) 1895-1907: lost his right arm in Civil War

3.) Representative William Huggins Brawley (SC) 1891-1894: lost an arm in Civil War

4.) Representative Charles Elwood Brown (OH) 1885-1889: lost a leg in Civil War

5.) Representative Allen Daniel Candler (GA) 1883-1891: lost an eye in Civil War

6.) Representative Laurence Curtis (MA) 1953-1963: lost a leg during Navy training

7.) Representative Matthew Anthony Dunn (PA) 1933-1941: Blind since he was 20

8.) Representative Nehemiah Hezekiah Earll (NY) 1839-1841:  Blind

9.) Representative Samuel Jackson Gholson (MS) 1836-37/1837-39: lost an arm in Civil War

10.) Representative David McKee Hall (NC) 1959-1960: Paraplegic

11.) Representative/Speaker David Bremner Henderson (IA) 1883-1903: lost a leg in Civil War

12.) Representative Daniel Ken Inouye (HI) 1959-1963:  lost right arm in Italy during WWII

13.) Representative James McCleery (LA) 1871: lost his right arm in Civil war

14.) Representative William Jennings Miller (CT) 1939-1941: lost both legs in WWI

15.) Representative John Pope (KY) 1837-1843: lost his right arm as a youth

16.) Representative Charles Edward Porter (MI) 1952-1959: lost both legs in WWII

17.) Representative Thomas David Schall (MN) 1915-1925: Blind from electric shock in 1907

18.) Representative Daniel Edgar Sickles (NY) 1857-61/1893-95: lost a leg in Civil War

19.) Representative Peleg Tallman (MA) 1811-1813: lost an arm in Revolutionary War

20.) Representative Morris King Udall (AZ) 1961-1991: lost an eye as a boy

21.) Representative John Bell Williams (MS) 1947-1968: lost lower left arm in WWII

22.) Representative Bob Dole (KS) 1961-1969: partly lost use of right arm in WWII

23.) Representative John W. Daniel (VA) 1885-1887: crippled in the Battle of the Wilderness; used crutches, called the "Lame Lion"

24.) Representative Jim Langevin (RI) 2001-present: paralyzed from the waist down from an accidental shooting when he was 16