Since I work directly on IT systems used in payment processing for a state Medicaid agency, I can assure you that to the extent such agencies can and do impose cost sharing it is correct, though there may have been some tweaks to the parameters (though I don't recall hearing of any changes to the basic rules.)

> Also the groups mentioned that medicaid can charge are mothers and the disabled.

No, it mentions that there are limits on the cost premiums and enrollment fees that can be assigned to pregnant mothers, the disabled, and the medically needy, and that “States have the option to impose higher, alternative premiums on other groups of enrollees, if their family incomes exceed 150% of the federal poverty level.” With regard to cost sharing more generally, it notes that “Certain vulnerable groups, such as children and pregnant women, are exempt from most out of pocket costs”.