I did feel the boom boom this morning when my 4 legged alarm clock jumped on me while sleeping ! Then for good measures Marty stuck his face right into mine .
I uses to use the galaxy fit on my wrist to wake me up. But i lost the charge cradle so..... now I use my kids. One kid wakes up at 8 am every morning. She gets me up and the other 2 get up around 9 am. However my baby is awake from midnight until 5 am so....Sonic boom bed vibrator will work on a foam mattress, as I have a king size. Or you can use a fitbit watch. I use it to not only wake me up (vibrates on your wrist, you set the alarms to your liking.
Do you use a particular app for the alarm on your phone?I use vibrate and the flashing light notification on my phone. I also have a Fitbit Charge 2 and it has a vibrating alarm.