Best known in the Buddhist and Hindu traditions are the lotus and kneeling positions; other options include sitting on a chair, with the spine upright.Meditation is sometimes practiced while walking, such as kinhin, doing simple repetitive tasks, as in Zen samu, or work which encourages mindfulness.They may, in the words of the yoga and meditation teacher Anne Cushman, be practising "self-torture ... apparently believing that bruising your inner thigh with your ankle is crucial to spiritual awakening.All the same, she writes, a formal method is helpful, and the asana chosen needs to be stable and comfortable, as the Yoga Sutras state: on the one side, few people would wish to hold strenuous postures like Downward Dog for half an hour or more; on the other side, a restful posture like Savasana (Corpse Pose) might be comfortable but would more likely lead to sleep than meditation.The spinal column needs to be erect and in balance; this poise lets the muscles of the back relax, and this in turn allows the attention to be focussed on the breath.