Any tips, tools, or products to help lift a 94-year-old, 130 lb. grandparent who has fallen?

Your mother should not even be attempting to lift your grandfather from the floor. Dangerous for him and for her.

#1 check he isn't hurt
#2 reassure him and allow him to recover - don't let him panic and be in too much of a hurry to get up again
#3 prompt him verbally to move himself into a sitting position, and then rest for a minute or two. If he can get himself onto all fours, so much the better.
#4 from there, see if he is able to move himself to a sturdy piece of furniture with a flat surface (by crawling or bottom-shuffling, for example) and pull himself up to his knees, onto one foot, onto both feet and sit - you can guide his hips onto the bed or place a chair ready for him - there are plenty of YouTube videos showing how.

Do not pull on any bits of him, do not hold him round the waist and yank at him, do not use any physical strength to assist him. As he begins to rise, you can place your hands to support his balance and to prevent him coming into contact with any corners or edges on his way up.

If he can't get himself up after one or two attempts, call 911 or your local falls response team (these are gaining in popularity - it's a waste of resources to send a full paramedic team out to a straightforward fall with no injuries).

There are falls cushions commercially available, but a) these are not cheap and b) it would be best to get some training in how to use them properly.

But whatever happens - you Do Not Lift.

You call 911. They send out a bunch of hunky firemen who are happy to pick him up and plop him back in bed.

He needs to be in a wheelchair if he has no strength left in his legs.

I’m sure that other USA posters will tell you all about Hoyer Lifts. There are also many videos about how to get someone up from the floor if they can help a bit – bring a chair over, they get onto their hands and knees, then you put props under the bum, up by stages. That’s not a good description, and it may not work with Grandpa, but worth a look.

What may work better is to leave him on the floor (a pillow and a blanket for comfort) until someone is available to help. Your mother shouldn't be trying to pick him up. Three or four hours lying on the floor won’t do him any harm, and may help him to change his mind about the commode versus walking from the bed to the bathroom. ‘Stubborn’ may not be ‘stupid’.

She needs help. He needs help. She can no longer do this alone. If this continues she will hurt herself and/or him. In that instance the problem is compounded. Other arrangements need to be made now.

Simply put it isn’t safe for the fallen person or the person trying to do the lifting to pick someone up, there’s a danger of injury to both. My dad had many falls, was also dead weight. We quickly learned to rely on calling 911 for help. Trained professionals with enough help safely got him back up and assessed if he was injured. There was never a charge and dad was always treated with kindness. This is the only safe route for all involved

Where I live I can call 911 and ask for lift assist. The fire dept. will arrive in ambulance and help get my husband up off the floor. There is no charge. They ask if he wants to go to hospital but if not, they just get him to a chair.

Your mother is going to seriously injure herself if she keeps trying to get dad back up off the floor.

Back injuries are no joke and she may find herself imobile and in a lot of excruciating pain. Not to mention long term damage to her back down the road.

The only safe way for her and him is to call and have the paramedics get him back up.

My dad did the same 18 months ago. I flat out said I was unable to lift him and this was why I asked him to call me before going in the bathroom alone. I called 911. 7 people showed up. He was off the floor and back in the wheelchair asap. He was amazed how easy it was for them, he was a bit embarrassed but he never did that walk again without help. The fireman that arrived said 90% of the calls were helping seniors get up. It is a free service. I said we would send a donation. They asked for it to be cookies. So my granddaughter (9 at the time) made 4 doz cookies and we delivered them Christmas Eve.

To try to pick up someone that has fallen you risk hurting them and or yourself.
The safest way is to call 911 or the non emergency number and ask for a "LIFT ASSIST"
In most areas without transport to the hospital there will be no charge.
The paramedics are trained to properly lift someone AND there are usually 2 people that will assist.
You, or another will be asked to sign a waiver declining transport to the hospital. But if there is a noticeable injury they may strongly encourage transport. (during the time I was caring for my Husband he fell 8 times, each time I called and there was never a charge. 7 of those times he was on Hospice so I would have declined transport anyway, if there had been an injury I would have called Hospice although I did notify them the following day)
There is another advantage to calling.
They will be aware that there is a vulnerable person in the house that may need more assistance in an emergency.

The best and safest solution is to call fire and rescue. Ask for a lift and there is no charge. A quick assessment is done to rule out injury.

Many time this was done when my dad and mom fell. No transfer is done to the hospital unless needed.