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A company called Blandito has designed a circular, foldable pillow that can be manipulated into many shapes (bed, chair, cubbies of different kinds.) Extra larges for adults as well as children's size. I can see this being great biofeedback for sensory averse/craving children. Too bad it's still in the design phase!
I would use a prettier towel and probably add a carabiner clip to the handle to hang a matching pouch (made from same accent material) with an inner pocket to hold a gel cooler pack-
Make a pillow covers out of 2 colorful; cloth napkins. Makes holiday decorating easy. Sew two sides of napkins together...top and bottom...Then cut 4 lengths of ribbon at 25" and then in half, and attached the ribbon to the open ends of the napkin sleeve...Slide the pillow in and tie the ribbon in a bow. Easy peasy!