It will depend on the tenancy regulations set out by the Housing Association - you need to get in touch with them. Some, especially those whose housing stock used to be council-owned, allow for tenancy assignment whereby you can transfer your tenancy to an adult member of your family who has lived with you continuously for at least a year, as long as their residency can be proven.
Bear in mind though that once you've assigned your tenancy to your daughter, you won't be able to request it back: in virtually all cases a tenancy can only be assigned once. This means that if you do want to move back to your HA home at any point, you won't have any legal rights if your daughter refuses. You should also check with your Housing Association and the local council whether assigning your tenancy to your daughter would affect any future rehousing if you needed it - some councils and HAs will refuse to house people who have willingly given up a social tenancy to somebody else in the past.
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