My knees are not as good as they were but they’re not that bad either. I’m thinking gardening knee mats may work for this purpose. Just lay them on the floor as needed, you don’t have to wear them.
My recent hire handed me a pillow when he heard me grunt as I got on my knees. ?
https://www.amazon.com/KI-Store-Kneeling-Portable-Absorbing/dp/B00YIIW9ZY/ref=zg_bs_17719515011_6/132-4741851-5197327?_encoding=UTF8&refRID=F4P9TCWE0Q446QQWH553