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neckties. four of them, one at each corner of the bed. tie one end onto the bed frame legs, make slip knots of the other end. they can have enough play to allow rolling over etc., and you can choose just feet, just arms or any mix of up to 4 limbs.
-- tried this feature when i offered my room up to a visiting couple at university. They loved it. Tried afterwards myself, very well received by my gf.
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