I remember a few years ago a designer/researcher (Japanese if I remember) came up with a bean-bag type bed that they claimed was a more natural fit for the way humans sleep evolutionarily.

If I search for that now I get either mattress 'review' sites (aka sales channels), or kinky videos.

edit: aha, found it: https://www.theguardian.com/world/2016/jun/21/chimpanzees-be...