Unless he has mental capacity he CANNOT give power of attorney. Given the medical situation, talk to a lawyer and do NOT just carry a form to the hospital. The answer may be that you cannot do what you seek, or it may be you can. But doing it if you legally could not may have later repercussions for you.
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As most people do, you have waited too long to get a Power of Attorney. POA's have to come from people who are willing and able to give them. Once a person becomes too incapacitated to give you a POA, you have to seek a guardianship from a court, which is a much more complicated process. Once your grandfather passes away, though, whoever becomes the executor of his estate will have to power to sign what it is that you need signed.
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