If you close your eyes, can you move your arms so that your fingertips touch each other?
That capability is called “proprioception”, the ability to know where your different bodyparts are in space. Even when you’re a sleep your brain has a fundamental understanding of where you are and where your body parts are.
Young kids, being kind of clumsy in every way, has a much less well developed sense of proprioception. So they do stuff like fall over or fall out of bed when they’re asleep.
In addition to not falling off, people are surprisingly good at not shifting on top of a baby-sized thing in their sleep. This is one of the things that is very self-reinforcing in evolutionary terms: the people who can’t stop themselves rolling on top of a baby or into danger are less likely to leave surviving offspring.
I have fallen out of bed more times as an adult than I can count, although not often at home, from my own bed. It mostly happens when on vacations. The most comical incident was when I became wedged between a bed and the wall, had to yell for help, and the worst was when I hit the side of my head on a marble topped nightstand, which required a trip to the emergency room.
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