I have noticed that some potential play patients prefer "Under the knee stirrups" rather than "foot stirrups" because under the knee stirrups hold their legs in place effortlessly for exams or for oral sex.
I feel that anyone can make a couple of padded knee stirrups and attach them to the tops of $30 camera tripods from Wal-Mart and it would work fine. The tripods are adjusted in height just by using The hand cranks. The tripods can be easily transported or hid. Two would be required. They can be placed along any bed side or at the end of any table.
If you are going be giving your significant other sexual intercourse, you may want to attach the bottoms of the tripod legs to round paver stones or iron weights used by weight lifters.