I have the humanity cosleeper too but never fell in love with it. I think because I got the natural stuffing and always found it under stuffed.
I like just putting a neck roll or something under the fitted sheet.
We also put our mattress on the floor so there wasn't really anywhere to fall. It was low enough rolling out didn't hurt.
I use the humanity cosleeper as a long pillow against the wall on my son's bed now. He thrashes and sometimes bangs his head on the wall...