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"I went back to science fiction to try a few experiments …and my first experiment was a disaster…"
- Alfred Bester

Self-Adjusting Furniture  
  Automatic adjustment for a perfect fit.  

The self-adjusting furniture, bought at a time when the management had considered throwing the hostelry open to the alien trade, had been out of date twenty years ago. But it still was there. It had been repainted, in soft and genteel pastels, its self-adjustment features still confined to human forms.
From First He Died (Time and Again), by Clifford Simak.
Published by Dell in 1951
Additional resources -

Compare to the chairdog from Frank Herbert's 1964 story The Tactful Saboteur.

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Additional resources:
  More Ideas and Technology from First He Died (Time and Again)
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