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Originally benches were one of many objects, including specially modified or even designed contraptions, used for various judicial corporal punishments, including spankings.
The explicit naming as spanking bench is typical for its main current use, for erotic spanking. They come in many sizes and styles, the most popular of which is similar to a sawhorse with a padded top and rings for restraints.
The 19th century British dominatrix Mrs Theresa Berkley became famous for her invention of the Berkley Horse, a multi-functional device which combined being a spanking bench with several other functions.