Most detach so you can toss the seat part directly in the washing machine. He sits on the swing with his back supported. They are the cheapest, fastest to put up, and easiest to travel with but they sacrifice some flexibility.
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Screamer Sex Swing – The Most Comfortable Swing
The straps are wider than some other options, and it supports of to pounds. Secure foot straps to the attachment point for him to hold his feet out. Perhaps you're just looking for something new in the bedroom.