http://en.wikipedia.org/wiki/Memory_foam
"Memory Foam" does not mean "form fitting" - it's supposed to return to its "natural" shape as a form of resistance to better seal/grip/whatever the thing it's connecting with (like your body).
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Not a joke, lol, imo we don't think the same thing
As far as most "innovative headphone designs" - and I may be somewhat historically inaccurate about some of these (so feel free to correct me - I'm curious):
Sony MDR-R10 - first woodies, first bio-cellulouse drivers, and I think first angled drivers (later seen on MDR-F1, MDR-SA5000, and non-Sony products like AT ATH-W1000X and Stax SR-Sigma)
Koss ESP series - first (???) or at least very early electrostatic headphones, and likely first closed electrostatic headphones (at least ESP/9, if not ESP/6)
Teac HP-F200 - "bone phones" (I have no idea if they are the first or not)
Sennheiser HD-414 - first open-principle headphones
and I'd probably throw the K340 on to finish the list out (mostly because I can't think of a good fifth - there's a few competing claims about who "invented" headphones, and most currently available products are in some way related to older products; not "new" in principle)
If we get outside of headphones, we could talk about the Sennheiser Surrounder and Sony PFR-V1 and other "outside of the head" widgets. I'm not sure I'd consider them as my "fifth" though - but it could work.