Well, I did not RTFA and don't plan to, but it seems to me that if you're creating bespoke pills for people, and you're expecting people to take all of those pills, what you should do is create packets of pills which are all in the same color scheme which is always the same for that patient. I imagine sort of miniature Easter egg-like pills with very distinctive character and with patterns appropriate to the patient, taking into account colorblindness and the like. Perhaps it would even be possible to give them distinctive textures for the blind, although I picture that causing pills to have a greater tendency to lodge in place. I imagine, though, that there's someone out there with a magical new pill coating to handle just such a case...
Obviously the pills should then be printed with serial numbers so that they can be identified with more precision, but lots of people can't read numbers that small without assistance so the focus should really be on distinctive color combinations.