Improvements on mats for practicing yoga are presented. The mats typically provide
improved balance, stability, relief of joint and
knee pain, and / or improved grip, among other advantages. One particular mat has an upper surface with protrusions, such as knobs, to provide a feeling of
acupressure massage to the user. The mat may be continuous and rolled up for storage, or may be divided into sections and folded. A layer of foam may be provided for
cushioning, and the foam may optionally be a
memory foam. Alternative embodiments include a mat without the protrusions on the upper surface, a mat with
cushioning that has an undulating or otherwise irregular surface, and a mat that has no central foam but which is made of a single material.