These doors are normally opened or closed manually using hands, although some of them close automatically. Most older and small European elevators from the 1950s to 1970s are using manual hinged door (similar to normal room doors), while the inside has a manual sliding scissor gate or often there is no door at all. For manual doors, sometimes the door can be spring loaded so the gate can't be left open, or the gate can automatically close when you press the button, and partly/completely close when the elevator gets to a floor.
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