We were actually on the couch one night (rather than the bed) and I managed to fall (or get pushed) off and landed HARD on my wrist. It wasn't broken, but badly sprained. It wasn't enough to distract us into stopping -- I just had to be really careful! Some things are worth a little pain and inconvenience! I wrapped it up later!

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"Sex should be friendly. Otherwise, stick to mechanical toys; it's more sanitary". Lazarus Long in Robert Heinlein's "Time Enough for Love"