A given mobility assist device may include at least two paddles, at least one including (1) a base defining upper and lower surfaces, the lower surface configured for supporting the base on a mattress, a first end, a second end, a longitudinal axis, a length along the longitudinal axis, and a width, the length greater than the width; and (2) a handle integral with or coupled with the base along its longitudinal axis or along an axis at least substantially parallel with the longitudinal axis and having a gripping portion, the at least one paddle configured for the handle to be gripped with the user's wrist in an anatomically neutral position with at least one of the longitudinal axis of the base or a longitudinal axis of the handle being at least substantially parallel to a sagittal plane through the user.