Beauty and the Bug

Hello lovely gardener friends. I have various physical limitations which frustrate me when trying to do traditional gardening--you know, in the ground, where you have to bend, kneel, squat, use heavy long-handled tools, etc. My wife and I managed a few tomato plants and one cucumber plant this year but I want to do more, yet to do it without hurting myself. So I'm doing research for next year. If it helps to know, I'm in New England in the U.S.

What are your favorite ways to make gardening easier on your body?

So far I've come across the following ideas: planter boxes on legs, and vertical gardening. Any further ideas are welcome, as are any elaborations on the raised boxes and the vertical gardening.

Mostly my interests are in growing vegetables, stawberries, and herbs. We get lots of sun in our yard.

Thanks!