My boyfriend feels like a burden to me.

I have a boyfriend who has autism and a speech impediment. He is very sweet and kind. He volunteers at a local library, he loves to help people. He is a good guy. He gets mad and never lets it go. But he has been complaining a lot about something, he tells me that he feels like a burden to me. At first I thought he was right, but then I started to think about it for a moment... Am I a burden to him too? I have been feeling like crap lately, I haven't been myself for a few weeks. But in our relationship he is the one that is more of a burden, he can't even go to work without my help. I never complain about it, because I love him and I don't want him to feel like he is a burden to me, but he is. He has never told me this, but I know he feels this way. He knows how much he relies on me, and he knows how much I rely on him. Do you ever feel like a burden to the people around you? I have been feeling like that lately for no reason.