Mattresses including a polymeric contact sensor configured to provide real-time dynamic contact information, which can then be used to report sleep quality, body position and/or pressure distributions to the user. The polymeric contact sensors could also be used to control parameters of the mattress and/or foundation with adjustable firmness for a given position and/or body shape/type/size. The polymeric contact sensor includes a plurality of flexible strips formed of a polymeric material and a conductive filler, wherein the polymeric contact sensor is in electrical communication with a data acquisition terminal, wherein the polymeric contact sensor is disposed on or within the upholstery layer, or on or within the quilt layer, or on a top surface of the innercore unit.