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A good heart rate sensor - If you're getting into REM you should see your heart rate decrease, if not then you're likely not getting the benefits of proper sleep.

I wake up a lot in my sleep, so generally I have been looking to reduce my average sleeping heart rate through exercise, diet, sleeping positions, etc - which has been quite successful. if you chose this route, remember to change one thing at a time and leave enough time to measure the difference.

Another thing that could work is simply having a motion-detection camera. The more time the camera spends active, the more you moved that night.

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