I was curious about who developed/invented restorative yoga and came up with this:
Restorative Yoga is built upon the teachings of B.K.S Iyengar. It was developed in the US in the 1970s by Judith Lasater who studied under Iyengar. The primary focus of restorative yoga was to assist in the recovery form illness or injury.
(p.s. Judith is a fabulous teacher.)