any other safe ways to get on and off the floor without a hoyer lift?

Yesterday a friend and my wife helped me get on the floor to see what exercises I might be able to do. (The angry quad on youtube inspired me) It was great to be flat on the floor out of my chair and trying to figure out a routine that will help me improve movement and strength. For safety and inconvenience it seems a hoyer lift would be a good option if I really intend to make a floor routine a regular part of my training. But are there any other ways / equipment to help get me on and off the floor? Thank you

any other safe ways to get on and off the floor without a hoyer lift?