To relieve oneself from back pains and other joint conditions, a wedge bed accessory like this from Contoursleep does the trick.

This adjustable bed wedge system is a total sleep and relaxation system. Sit upright or lie back and experience the Zero Gravity position. Reduce pressure on the spine, relieve muscle tension, increase circulation and reduce stress on the heart. The wedges have removable, washable terry fabric covers for soft, breathable comfort.

Via ContourSleep