Every year, the floor was getting a little further away. That is to say, it became harder to go from sitting on the floor to standing again, so I'd avoid getting on the floor unless the cat belly was particularly enticing.
I decided a few months ago to dig my medtitation cushion out of storage, and convert a small patio side table to a floor-desk for my tablet/keyboard, where I do the bulk of my internet time wasting.
Just this morning, I realized that I'm popping up and down with a lot more ease than when I started, so the floor is now officially at a distance it was at maybe 15 years ago.
Edit: This edit might break the rules, but this is the first post I've ever made that included the image of the post in the post.
I'm still working on my sit-down technique. I've actually got two cushions currently, and sometimes I miss and end up rolling onto the floor, but I've seen people do it how you do and I hope to get there some day.
I'll experiment with not using my hands to stand up, too.