Does Medicare pay for in-home palliative hospice care?

My FIL is slipping, both physically and mentally, and is getting harder and harder for the in home caregivers to assist him. Can Hospice offer more help? When is it time to put him in a convo? Will Medicare pay for in-home pallliative hospice care when he (potentially) has longer than 6 months to live?

I suggested a Hoyer lift but my MIL says they're too big. I also suggested a foot cradle as my FIL crosses his legs when he gets into bed and then can't uncross them and claims that someone is holding his feet. He then tries to get out of bed! I don't know if the weight of the sheet/blanket is preventing him from uncrossing his legs or if it is due to something else. Ideas/suggestions??