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The reason I ask is that I was wondering whether it could damage your pelvic nerves during orgasm because of the pressure on your perineum.
If that kind of thing worries you, then maybe you shouldn't masturbate on the edge of the sofa?
There’s absolutely nothing wrong with masturbating in that fashion. Men masturbate in all sorts of positions, and on the edge of the sofa should not cause any difficulties of the sort you mention. Do remember, of course, that masturbating in any position may cause some soreness (along with a great deal of happiness!); regular use of a quality penis health cream (health professionals recommend Man1 Man Oil) helps alleviate that soreness.