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I'm sure this has been done but I did come up with it for myself. We have these small inflatable discs at the gym, one side is smooth and the other has "nubbies" on it. I put it under my lower back and do crunches with it (kinda like the "bender ball" if you've ever seen it.) After the crunches became easier, I would lift one leg straight out while crunching and then switch legs. You may have to adjust the disc to get the right angle.
Hope that helps!
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