Home Depot sells a pole system made for changing lightbulbs in recessed lights in vaulted cielings. I believe it sells for about $15.00, which for what you get is a great price. It comes with two seperate grabbing units (2 sizes) and then an extendable pole. Its one of those that twists and then you can pull the extention out. I believe its about 12 feet long when extended.

If I were in your situation, I would take a drive over and take a look at it. In the worst case, if it doesnt work, and you dont like it for actually changing light bilbs...just return it.

Next, you may want to look into a DME company (durable medical equipment) for what they call "helping hands". They come in all sorts of sizes and shape and are designed to be used as gripping, holding, pulling, pushing and anything else that handicapped people and "mobility comproimised" people may need. Perhaps a phone call to one of them will give you an idea of what they have on hand, but a trip down to look in thier catalogs may be better. Of course theres always the online approach. Just do a search for medical equipment.

Good luck.