There is a nifty tool called a Kwik Klip Basting Tool. When I first saw it I though it was stupid, after all I can close a safety pin just fine, thank you very much! But then I discovered, like you did, that you can't get your hand under there, and my fingers were getting very sore. Once I tried the tool, I was sold!
You hold the safety pin in your dominant hand, poke it through the fabric, and holding the Kwik Klip in the other hand, when the point of the safety pin comes back out the top of the fabric, you use the Kwik Klip to fasten the pin. Easy peasy! You can see it here: http://www.andicraftsquilting.com/sh...sting-Tool.htm

I'm going to try to find the book you suggested -- Hand Quilt without a Frame by Barbara Schaffeld

I have a Dritz cutting table that I use. I find the center of the table and the center of the quilt and match them up, then start pinning or hand-basting. I use clamps to secure the quilt sandwich while I'm basting/pinning.

I agree! I have a Kwik Klip and love it for when I'm basting a quilt!

Oh, yes, I remember! My grandma almost always had her frame set up in the living room on the farm, and then in the living room when she an Grandpa moved to town. My sister now has the joy of that old quilt frame, and when I visit next summer, it would be fun to put a quilt on to tie! My mom also had such frame. Good memories!

Eleanor Burns used a grapefruit spoon to close the safety pins. The spoons work well.