Rh certainly did get tested on an iPad and other mobile devices but using the correct format for those devices. In Rh10 you would have to create a Multiscreen Layout. In Rh11 you could create a Responsive Layout which is much easier and designed to work on any device, PC, Android, iPad etc.
See the RoboHelp Tour on my site and look in the sample projects that ship with Rh.
See www.grainge.org for RoboHelp and Authoring tips
The problem with Multiscreen layout is that the content is not accessible through tab. I work for California State University and accessibility is crucial and that's why I use webhelp layout.
But what do you mean by 'not accessible through tab'. If you can specify
the problem, we might know of a solution.