I got a temperpedic memory foam 4-5 inch thing to put on my mattress that made the biggest difference in the world. I sleep on my back. FOr comfort, i sleep on my sides, but my arms and legs HATE me when i do. I tend to wake up crying not being able to move if i do turn over in the middle of the night. I have had to train myself to sleep on my back. I got a blanket at bed bath and beyond that finally is good for me. I have gone through probably 10 different blankets and 500 dollars finding the right one for me. It is so important and it is soft and makes the biggest difference for me. If I dont have my blanket, pillow, or bed, I dont sleep well and I wake up stiff and horrible. Staying at peoples houses is a struggle but I have made my own bedroom extremely comfortable. The biggest thing was the memory foam topper... here is the link to it

http://www.samsclub.com/sams/shop/pr...Id=prod1110597

I hope this helps! I finally after 3 years have found something that works for me!