The John Hauberg Museum of Native American Life at the Black Hawk State (Illinois) Historical Site has a little diorama of what Saukenuk looked like, and displays of summer and winter houses.
This is their idea of Saukenuk. Houses were rectangular, wood frame and covered with bark. The houses were laid out in a rectangular pattern, very similar in fact to European style villages.
The Sauk occupied these houses in the summer, then dispersed into smaller hunting groups in the winter. Summer was a time of raising crops, fishing, and socializing.
Summer houses had wood-frame beds, covered with stretched skins, quite similar to spring style beds.
A representation of the winter house is below.