Yes.
When properly structured, family members can be paid for providing such care without it appearing to be a gift which would disqualify the elderly person from mediciad. However, it must not be excessive, it should be properly documented under a care agreement that meets the requirements of Pennsylvania law and it is taxable as income for the receipient for the payments.
For elder care issues call 610-933-8069 for a consultation with an associate with extensive elder law and nursing home experience.