Hello I read your post and this is so sad i hope everything will be fine later.
I have some tips that you
should try. First you should communicate with he and you should tell him, that the walking is realy important for him and for his body. You must to be calm and polite and you must have to listen his problems and worries and you must to care about this problems. I think he will be braver if somebody walk with him for first just small circles for example around the house, and lalter you can rise the distence. At the begenning don’t let he to walk alone. It is better to worry than call the ambulance. You should make the walking safer. Watch out for the carpet or for the cables on the ground, take this things away to make the walking safer in the house. Motivate him with small presents. If he have done enought steps in a day you should make for him his favourite food, or you should watch the match with him or other something little things. The most important in my opinion. Always be calm and polite. It will help a lot if you let him to choose what he want to do. I wish I could help and your grandfather will walk a lot!