Nursing home after stroke?

My grandfather is 84 and had a stroke and a minor heart attack, he doesn't want to continue with rehabilitation, doctors are suggesting nursing homes. Is it up to us wether we take him home and not have him go to nursing home? He can't walk, and needs help with bathroom, currently wear diapers. We also have stairs in out house and bathroom is on second floor. If we take him home could a social worker take him out without out consent? Thank u