Here's another bit of my home gym equipment:
Going for missionary, and holding yourself up with your fists on each side of her hips while aiming for a more up-down (clit grinding) motion, rather than the low and deep motion is a good work out.
Also going for the 69 where you're on top doing a one handed pushup so you have that free hand for additional arousal is a good work out too.
Here's another one. Waving this thing around on big hedges for 2 hours is a bit of a work out.