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I could never get my hip dogs to use ramps in a car or a bed. Personally, if a dog is used to stairs and if she takes it slowly, it may be easier for her to adjust to doing steps, especially if they are wide and not too skinny. We have stairs here and our hip dogs were very familiar with them and went slowly up and down. I think they knew going to fast might strain the hip more. I'm not familiar with steps for beds though I've seen some in photos that look rather nice.
In our bedroom we used a storage bench , with a cushy dog bed right underneath it, that adds height. Then, before our last mattress purchase, we had a mattress that was an easy step up from the storage bench. The hip dogs would climb on the dog bed, then step onto the bench and then the bed--and it worked very well for them. My fear was one of them jumping off the side, which happened once with Barkley.
You might look into something like that. Also, how tall is your bed? Is there any way to eliminate height by getting a different foundation that holds the mattress? You could cut off several inches of height that way, if you want to spend $$.
When Toby had his cataract surgery we actually pulled our mattresses off the foundation and just slept on the floor with him--worked great, but it was a pain for me to get up in the morning! Toby's typical routine is to jump on the storage bench at full run and then jump on the bed.
One other thing--make sure she isn't landing on hardwood or slippery tile when she gets off the bed--increases the chances of slipping and hurting an elbow or a hip. The dog needs to step off on a firm surface, like carpeting or a rug that isn't going to move.