One rear-entry sex position that makes use of sex furniture or other accessories is the Bound Love Triangle.
Here, the person on the receiving end bends forward, lays their head and shoulders on the ground, and uses pillows or other supportive objects to cushion their upper body and knees. You can have anal and vaginal sex in the bound love triangle, a variation on the classic doggy position.
Liberator sex furniture and other soft, supporting sex props can help people who have problems kneeling enjoy longer periods of play. To make the receiving partner as tall as the penetrating partner, you can use bedside props.