As I recall it, the R22 skids are not stressed for anything to be carried on them, so technically, if a person stood on the skid you will be outside the Flight Manual parameters.
The lateral cg limits are very narrow - put a person on the skids and you will probably run out of cyclic. Get him to jump off, and the attitude change could cause a mast bump?
But nobody would criticise the decision to jump out of a Robbie, it is better than going flying in it.....
