Here’s a webpage on the Medicare website that I hadn’t seen before. You might want to look under “Care Options” for information about what Medicare covers, who qualifies for it and when.
http://www.medicare.gov/caregivers/
The Medicaid waiver program called Home & Community Based Services (HCBS) is available in most states. Its goal is to keep keep people in their own homes. You might check with your states to see what services are available as they may vary from state to state. There is information about this program under “independent living” along with other resources on this government website:
https://www.disability.gov/community_life/independent_living
There’s a relatively new program called “Money Follows the Person” (MFP) that has the goal of moving people from institutions back into the community. You can read about this program on the Kaiser Family Foundation website: