I have the perfect solution!
During the last 2 years Molly, my yorkie, has torn the ligaments in both knees.
I knew that even when they healed, i wouldn't want her to jump off my bed, so i sawed 8 inches off the bed legs!
The height Molly now has to jump is less than jumping onto the sofa, so it's perfect!
Of course, i wouldnt expect everyone to be that crazy, but it works for us.
I now have an exbreeding puppy farm bichon, and it's good for her too, as she has some arthritis in her front leg.