The best solution is to do as my aunt and mother did: get a niece, daughter, grand-daughter or grand niece to do it for you. They are after all twenty something years younger or forty years younger than you are.
If the willing young relatives are in short supply, which I bet they are, have you tried fastening a washing-up brush to a suitable length of broomstick using duct tape?
Dipping said brush in soapy water then applying it to the skirting board? You then dry the skirting board by using a dry mop, or a floor-cloth tied round the head of a clean broom.
I have successfully painted ceilings by tying a paint-brush to a pole and remained solidly planted on the floor myself, so I assume it works on skirting boards, but as I can still happily get around on my hands and knees, I haven't tried it.