First off - if you DO end up using a cover lifting device, be SURE to use one from HotSpring. Your cover (if standard) is equipped with metal plates in six places, and two metal channels behind the zippers. The HotSpring Uprite Cover lift and/or Cover Cradle lift and hold the cover by those plates, NOT the hinge.
But if you don't want any type of lifter, try the cover shelf.
You can leave the arms folded against the tub when you don't want to use it - for example when you are entertaining. On those occasions you can move the cover completely out of the way. For day-to-day use, slide the cover out onto the arms as much or as little as you like.
HTH