Yup, just with their hands.
This story is attributed to Jean de Maingre.
This story is attributed to Jean de Maingre.
I guess they did train that movement specifically (in armor etc.), because it's not something you could just randomly do on a whim even if you are very strong. Definitely not something you would WANT to do on a whim if you can fall down to your death and also have to be in good enough shape after to fight (which makes this particularly crazy).
Damn, considering that they were also trained grapplers, those must have been one hell of sparring partners.