People who lived to be old were usually fairly strong. They kept working for as long as they could, and if they had families the families took care of them when they were no longer able to take care of themselves. But a grandmother who could no longer get out of her chair without help could still knit, keep an eye on the baby in the cradle, and watch a boiling pot on the fire - grandfather could do much the same.
There was probably a certain amount of resentment from the younger generation - there are references to the old being 'knocked on the head' in previous times, and stories of them being put out for the bears, plus folk tales like 'The Wooden Dish' where an old man is given his food in a wooden bowl because china falls out of his feeble hands and breaks - while his young grandson innocently carves a bowl t o give to his own father when he gets old, or the story of the man who ill-treated his elderly father, dragging him by the hair through the family orchard, but protests when his son does the same to him, but drags him even further - "I only took him as far as the gate."
The predecessors of nursing homes were the workhouses, where the elderly poor were sometimes starved, but sometimes enjoyed the first rest they'd ever had in the lives and were happy to put up with workhouse food.