The Creator didn't include handles or grab bars on people. When we're trying to assist someone with getting up from a chair, or we're trying to walk with someone whose balance isn't good, a reliable handle would do wonders for both our backs and the safety of the person we're helping. Lifting under the shoulders is bad for everyone. Belt loops break at the most inconvenient times. There's the very real risk that the person we want to help may bring us down, too, if there's a bad fall.
 

One possible answer is a gait belt. These are the soft woven belts you see physical therapists and nurses put around the waist of a patient they want to safely assist. The gait belt gives you something sturdy and safe to hold on to. If it's loose enough to put two fingers behind (no looser) the "patient" can wear it all day without discomfort.
 
This is one piece of equipment that's not expensive. You can get increased safety for both you and your loved one for around ten dollars - a real bargain these days. Gait belts are available at most any medical supply store, and of course you can always find a wide selection of gait belts like the one above at Amazon.com