Health Aid/Accompany Me to the Gym

Im a 36 year old male on disability for depression. I qualify through Medicaid for a health care aid which I would like to use as someone to go to the gym with me and to go for a walk on the public walking trail. All od my friends from college moved away or got married and are busy with kids. I was in medical school and had to drop out due to my depression. I live in the St. Charles/Cottleville area. I believe I qualify for up to 30 something hours though I am open to part time as well even if it were just 2 hours a day 5 to 7 days a week. I used to have a personal training license myself but I have problems motivating myself nowadays to get to the gym. My psychological health definitely depends on getting out of the house, exercising, and having a friend which my Medicaid plan has alotted time for. I am very laid back and there is no pressure if for example some days you cant make it- Im flexible as well as far as a schdule goes. Thanks for your time. -Clayton.