AssistiveTouch is a useful accessibility feature, it allows users to perform actions without using hardware buttons. Also it works as a Shortcut.
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If you can't use hardware buttons, then here's how you can enable and use AssistiveTouch on iPhone or iPad.
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Video Courtesy: Apple
First things first, open Settings then head over to Accessibility Settings, tap on Touch > AssistiveTouch, now turn the toggle to On to use it.
Video Courtesy: Apple
Once enabled, you can drag and drop the AssistiveTouch shortcut by holding it, tap on it to perform different actions.
Video Courtesy: Apple
By tapping Customize Top Level Menu option you can change or add new actions if want.
Video Courtesy: Apple
If you want to take a screenshot without pressing hardware buttons, you can simply tap AssistiveTouch then Screenshot action. That's it.