I really really like the solutions on Supernanny. That girl is so creative and a miracle worker.
So, in the shadow of JoJo, get a poster board, decide what chores your kids are capable of helping with, who does which one, write it on the board. My kids took turns emptying the dishwasher, for instance, and yes I did have to mark it on a piece of paper, or they would. We'd have to alter it sometimes, but it really worked. For several years. Even washing dishes. My son knows how to use the washing machine and dryer. It doesn't take much. A little instruction from you, and you're always there if there's a question. And then at the end of the week big rewards for not only job well done, but also that you so much appreciate the help.
Consider this: what if you weren't able to get around? Their help would be so much more vital. I can attest to that personally. My youngest and I get the shopping done, and he hauls out the wheelchair, puts it back in, fetches the electric shopping carts for disabled for me, hauls in the groceries when we get home. He's a god send. And I will miss his help when he graduates high school and leaves for the air force.
But it teaches kids to help around the house, that it isn't a totally free ride, it teaches responsibility. When they grow up and can't wait to move out, they'll need the skills to maintain a home.
Good luck.