Bed configured to detect sleeper position

A system comprising:

• a bed having a mattress;
• one or more sensors;
• and
• a controller operably connected to the bed, the controller comprising a processor and computer-readable memory, the controller configured to:
• at a first time:
• i) receive a first set of sensor data from the one or more sensors;
• ii) analyze the first set of sensor data;
• iii) determine a first position of a user based on analyzing the first set of sensor data;
• iv) compare the first position of the user to a user-preferred position;
• and
• v) determine whether the user is in the user-preferred position based on comparing the first position of the user to the user-preferred position;
• at a second time:
• i) receive a second set of sensor data from the one or more sensors;
• ii) analyze the second set of sensor data;
• and
• iii) determine a second position of the user based on analyzing the second set of sensor data;
• iv) compare the second position of the user to the user-preferred position;
• v) determine whether the user is not in the user-preferred position based on comparing the second position of the user to the user-preferred position;
• and
• generate, based on a determination that the user is not in the user-preferred position, a haptic response.