Allowing your dog to jump up or off of anything at the age of 11 can be stressful on them. Even climbing up & down steps can be painful for them. I have a dog the age of 12 that has problems with artheritis & I try to make sure he doesn't have to strain his joints or hurt himself anymore. He goes out on walks everyday to keep him in shape & has a special built up platform so he doesn't have to step up so high to come into the house. He is also on Rimadyl to control the pain. I hope this is helpful for you. Also maybe you could lift your dog up on to the bed & lift him down so he doesn't get hurt