In-home supportive services

Yes, several states offer "In-home supportive services". Typically services are provided to eligible aged, blind, and disabled persons on SSI who cannot perform the services themselves and who cannot safely remain in their own home unless such services are provided.

For example, here's a link to the program in California :

http://www.ssa.gov/policy/docs/progdesc/ssi_st_asst/2009/ca.html

Here are program outlines for all states :

http://www.ssa.gov/policy/docs/progdesc/ssi_st_asst/2009/index.html