Fun Furniture for someone with problematic joints?

I know this is probably a very niche topic here..... however I am wondering if anyone might have any recommendations for some "fun time furniture" for someone with joint issues. I suffer from a chronic illness that affects my joints and while there are some upsides to this issue with being extra bendy in the bedroom it can get a little difficult at times due to joints that like to slip in and out of place in basically any and all sexual positions. My partner and I are interested in trying some furniture and have looked at a few different versions of pillows, wedges, swings, etc but wondering if anyone who might experience similar issues might have any recommendations, suggestions or experiences they might want to share.