INFANT CARE APPARATUS

An infant care apparatus including a base, a drive, an infant support, and a controller. The a drive is coupled to the base and has a first electromechanical driver defining a first degree of freedom forming a first axis of motion of a movable infant load seat surface dependent from and movable relative to the base. The infant support is removably coupled to the movable infant load seat surface. The drive is a distributed drive distributed to the base and the infant support, and includes a second electromechanical driver integral with the infant support that defines a second degree of freedom forming a second axis of motion of the infant support. The controller is communicably coupled to the distributed drive and is configured so as to move, via the first and second electromechanical drivers, the infant support relative to the base.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a non-provisional of and claims the benefit of U.S. provisional patent application No. 63/184,625 filed on May 5, 2021, the disclosure of which is incorporated herein by reference in its entirety.

BACKGROUND

The disclosed embodiment relates generally to an infant care apparatus and, more particularly, to an infant care apparatus having an occupant area that is movable by a drive mechanism.

2. Description of Related Art

Baby swings, bouncy seats, cradles, and bassinets have been used to hold, comfort, and entertain infants and babies for many years. Prior art bouncy seats are normally constructed with a wire frame that contains some resistance to deformation that is less than or equal to the weight of the child in the seat. Thus, when the child is placed in the seat, his or her weight causes a slight and temporary deformation in the wire structure that is then counteracted by the wire frame's resistance to deformation. The end result is that the child moves up and down slightly relative to the floor. This motion can be imparted to the seat by a caregiver for the purpose of entertaining or soothing the child.

Baby swings normally function in much the same way as swing sets for older children; however, the baby swing usually has an automated power-assist mechanism that gives the swing a “push” to continue the swinging motion in much the same way a parent will push an older child on a swing set to keep them swinging at a certain height from the ground.

There are some products that have recently entered the market that defy easy inclusion into either the bouncy or swing category. One such product includes a motorized motion that can move the infant laterally, but only has a single degree of motorized freedom and is thus limited in the motion profiles that can be generated. While the seat can be rotated so that the baby is moved back and forth in a different orientation, there remains only one possible motion profile. There are other products that provide a two degree of freedom motion; however, the drive systems for these products is complex and expensive to manufacture.

A need exists for a motorized infant support that is capable of simultaneous or independent movement in at least two directions and that has a drive mechanism with less complexity and lower cost than the conventional drive mechanisms noted above.

DETAILED DESCRIPTION

For purposes of the description hereinafter, the terms “upper”, “lower”, “right”, “left”, “vertical”, “horizontal”, “top”, “bottom”, “lateral”, “longitudinal”, and derivatives thereof shall relate to the aspects of the disclosed embodiment as it is oriented in the drawing figures. However, it is to be understood that the aspects of the disclosed embodiment may assume alternative variations and step sequences, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification, are simply exemplary of the aspects of the disclosed embodiment. Hence, specific dimensions and other physical characteristics related to the aspects of the disclosed embodiment disclosed herein are not to be considered as limiting.

Referring toFIGS. 1 and 1A-1Ean infant care apparatus in accordance with aspects of the disclosed embodiment is illustrated. Although the aspects of the disclosed embodiment will be described with reference to the drawings, it should be understood that the aspects of the disclosed embodiment can be embodied in many forms. In addition, any suitable size, shape, or type of element or material could be used.

The aspects of the disclosed embodiment described herein provide for an infant care apparatus1with, for example, a hemispherical or hemi-spheroid shaped base. The hemispherical or hemi-spheroid shaped base has an electromechanical drive mechanism (with two or at least three independently controllable actuators) that provides the infant care device with at least an inverted pendulum motion path (seeFIG. 17A) and/or at least a two degree of freedom inverted pendulum motion path (seeFIGS. 17B-17C) as will be described herein. The aspects of the disclosed embodiment described herein also provide the infant care apparatus1with, for example, a rocker base having an electromechanical drive mechanism (with at least two independently controllable actuators) that provides the infant care apparatus1with at least an inverted pendulum motion path. In the aspects of the disclosed embodiments, the inverted pendulum motion path and/or the two degree of freedom inverted pendulum motion path may be combined with other axial motion paths (e.g., linear motion paths) or planar motion paths (e.g., rotational motion paths) as described herein to effect multi-axis motion of an infant support2of the infant care apparatus1. In accordance with aspects of the disclosed embodiment, the infant support2is separable from a base3of the infant care apparatus1and a drive mechanism10of the infant care apparatus1may be distributed between the base3and the infant support2such that when separated the infant support2provides at least one degree of freedom movement to the infant support2and when coupled to the base3the combination of the base3and the infant support2provide at least two degree of freedom movement to the infant support2.

In accordance with aspects of the disclosed embodiment, the infant care apparatus1generally includes a base3, an infant support2, and an infant support coupling200(or infant support receiver coupling200C) arranged so as to releasably couple the infant support2to the base3. The infant support2includes a mating support member8,8R which is configured to be engaged with the infant support coupling200(or infant support receiver coupling200C) as will be described in greater detail below.

In one aspect, the infant support2is an infant seat7; however, in other aspects the infant support may be a bed (such as a bassinet), where a suitable example of the bed can be found in U.S. patent application Ser. No. 17/025,674 titled Infant Care Apparatus and filed on Sep. 18, 2020. As illustrated inFIGS. 1 and 2A, the infant seat7is illustrated as being elliptical in shape; however, the infant seat7may be any other suitable shape, such as, square, rectangular, circular, etc. A suitable example of the infant seat can be found in U.S. Pat. No. 10,231,555 issued on Mar. 19, 2019, the disclosure of which is incorporated herein by reference in its entirety.

The infant seat7includes the mating support member or frame8,8R which is configured to support at least the weight of an infant or baby. In some aspects, as will be described herein, the mating support member or frame8forms a rocker2R with rocker rails2610R,2611R, which in one or more aspects fixed relative to the seat7. In some aspects, the infant seat7includes any suitable mobile19that may be fixed or releasably coupled to the infant seat7in any suitable manner. In one aspect, the infant seat7has an upper end11and a lower end12. The infant seat7is configured to receive a fabric or other type of material so as to form a seating portion15for an infant or baby. The seating portion15may be coupled to the infant seat7using any suitable fastening mechanism, such as zippers24. Here, zippers24are shown for exemplary purposes but in other aspects, the fastening mechanism can be hook and loop fabric, buttons, or any other suitable fastening mechanism. In one aspect, the seating portion15may further include straps16to secure the infant or baby to the seating portion15. The straps16are coupled to the mating support member8,8R in any suitable manner, such as, with, e.g., clips, rivets, buttons, etc. provided on strap securing members17. The straps16are fed through slots26provided in the seating portion15to connect into a crotch support25of the seating portion15to secure the infant or baby. In one aspect, the seating portion15and the straps16may be easily removed by a user for, e.g., cleaning or replacement. The straps16, in one or more aspects, form a five-point harness (e.g., with two shoulder straps, two waist straps, and a submarine strap—seeFIGS. 1B and 1C) for securing the infant within the infant seat7; while in other aspects, the straps16may form a harness with any suitable number of anchor points/straps, such as a three point harness (e.g., with two waist straps and a submarine strap), for securing the infant within the infant seat7.

Referring also toFIGS. 1C, 1D and 2A-2D, the mating support member8,8R is connected to an upper end11of the infant seat7by an upper connector13and to a lower end12of the infant seat7by a lower connector14. The mating support member8,8R has any suitable shape so that when coupled to the infant support coupling200(or infant support receiver coupling200C), the mating support member8,8R orients the infant seat7in a predetermined position. For example, in one or more aspects, the mating support member8,8R may have a longitudinal axis extending between the upper end11and the lower end12of the infant seat7, where the mating support member8forms an arc between the upper end11and the lower end12of the infant seat7. Accordingly, the infant seat7, with the mating support member8, forms a cradle. The arc may allow for adjusting an angle θ (seeFIG. 1) of the infant seat7or cradle relative to the base3. In other aspects, the mating support member8may have arcuate portions (seeFIG. 2A) coupled to each other so that the arcuate portions set the angle θ. In still other aspects, the mating support member8R includes an articulated span member266(that will be further described herein) so that the articulated span member266sets the angle θ (seeFIG. 1C, 13A, and 13B).

In one aspect, referring toFIGS. 2A-2E, the mating support member8is a bisected or divided support that includes two support tubes8A,8B arranged side by side along the longitudinal axis of the mating support member8. The two support tubes8A,8B are pivotably coupled to the upper end11and lower end12of the infant seat7so as to pivot relative to one another in direction P3. The two support tubes8A,8B may pivot from a first position1000(FIGS. 2A and 2B), where the two support tubes8A,8B are positioned together to form a mountable base (mountable to the infant support coupling200), to a second position1001(FIGS. 2C and 2D). In the second position1001, the two support tubes8A,8B are pivoted apart from one another so as to form, e.g., support legs which are configured to independently support at least the weight of the infant support2and an infant or baby placed therein, such as, on a floor surface. For example, support tube8A may pivot about axis P1in direction PD1from the first position1000to the second position1001. Support tube8B may pivot about axis P2in direction PD2from the first position1000to the second position1001. In one aspect, where the mating support member8has2arcuate portions, the center of gravity CG (FIG. 2E) of the infant is positioned over the two arcuate portions so that the infant seat7is stably supported on the arcuate portion so as to cradle and rock with a predetermined range of motion without unstable transition to the other arcuate portion. Any suitable clips, snaps, etc. may be provided to releasably couple the support tube8A and support tube8B together in the first position1000.

Referring toFIGS. 1C-1E, the mating support member8R includes supports2610,2611. Each of the supports2610,2611includes a rocker portion2610R,2611R (also referred to herein as rocker rails) and stretcher portions2615-2618. Here the rocker portions2610R,2611R are coupled to the upper end11of the infant seat7at the upper connector13by a respective stretcher portion2615,2617. The rocker portions2610R,2611R are also coupled to the lower end12of the infant seat7at the lower connector14by respective stretcher portion2616,2618. The rocker portions2610R,2611R have an arcuate shape so as to form a cradle with the infant seat7that has a center of gravity CG (substantially similar to that shown inFIG. 2E) that is positioned over the rocker portions (or rocker rails)2610R,2611R so that the infant seat7is stably supported on the rocker portions2610R,2611R so as to cradle and rock with a predetermined range of motion without unstable transition to the stretcher portions2615-2618. In this aspect, the supports2610,2611extend upper end11and lower end12of the infant seat so that the rocker portions2610R,2611R are separated from each other by a predetermined distance D. The predetermined distance D is any suitable distance that provides for stable support of the infant seat7in a direction TD that is transverse to a rocking direction RD of the infant seat7. For exemplary purposes only, the distance D may be substantially equal to or greater than a width W of the infant seat; while in other aspects the distance D may be less than the width W of the infant seat7. The articulated span member266, which will be described in greater detail below, is coupled to each of the rocker portions2610R,2611R and spans the distance D between the rocker portions2610R,2611R. The articulated span member266provides for coupling the infant seat7to the base3and for adjusting the angle θ of the infant seat7when the infant seat7is coupled to the base3.

Referring toFIGS. 1C, 1D, 13A-14C, the articulated span member266(also referred to herein as an infant support coupling266) includes a base2620(which only a portion of which is illustrated inFIGS. 14A-14C) and articulating supports2621,2622. The infant support coupling or span member266is arranged to releasable couple the infant support2and the base3so as to mount and dismount the infant support2to the base3, wherein the infant support coupling266depends from the rocker rails (or rocker portion)2610R,2611R and has an integral recline adjustment mechanism2777of the rocker2R. The base2620is configured to couple with the infant support receiver coupling200C as described herein and has an actuable grip2888that engages the infant support coupling266, the grip2888being configured to actuate between a closed position and an open position to capture and release the infant support2to the base2620, wherein the grip actuation is separate and distinct from recline adjustment of the rocker2R. The articulating supports2621,2622form a part of the recline adjustment mechanism2777and each have a rocker coupling surface2621R,2622R that mates with a respective rocker portion2610R,2611R in any suitable manner (e.g., such as with any suitable fasteners) so that the infant seat7is suspended by the articulated span member266when the infant seat7(including the articulated span member266) is coupled to the infant support receiver coupling200C. Each of the articulating supports2621,2622is rotatably coupled to the base2620so as to be indexable in rotation to adjust the angle θ of the infant seat7when the infant seat7is coupled to the base3. Coupling of the articulating supports2621,2622with the base2620of the articulated span member266will be described with respect to articulating support2622; however, it should be understood that the coupling between articulating support2621and the base2620is substantially similar (but opposite in hand) and like reference numerals will be used with respect to the coupling of the articulating supports2621,2622with the base2620. It is also noted that the configuration of the base2620and articulating supports2621,2622described herein are exemplary and that the base2620and articulating supports2621,2622may have any suitable configurations that effect coupling of the articulated span member266to the rocker portions2610R,2611R and the infant support receiver coupling200C.

In accordance with one or more aspects of the disclosed embodiment, the recline adjustment mechanism2777will be described. The recline adjustment mechanism2777is disposed to adjust at least one of rocker rail incline and seat incline with respect to the base2620. The recline adjustment mechanism2777also has an adjustment handle2785, separate and distinct from a grip actuation handle2878(also referred to as a cam lever) configured to actuate the actuable grip2888. For exemplary purposes, the articulating support2622includes a frame2622F that forms the rocker coupling surface2622R. The frame2622F has any suitable shape and size for coupling the respective rocker portion2611R to the base2620. The frame2622F includes a base interface surface2750that faces the base2620when the articulating support2622is coupled to the base2620. A pivot pin2720extends from the frame2622F so as to protrude from the base interface surface2750, where the pivot pin2720is coupled to the frame2622F in any suitable manner (e.g., such as with any suitable fasteners or integrally formed therewith). The interface surface2750includes a guide slot2730and at least two pivot stop apertures2740A-2740C (three are shown for exemplary purposes), where the pivot stop apertures2740A-2740C are substantially radially arranged about a pivot axis AX30at any suitable predetermined angular intervals formed at least in part by the pivot pin2720.

The base2620includes a housing2620H that includes a housing bottom2620HB and a housing top2620HT that are coupled to each other in any suitable manner, such as with any suitable fasteners. The housing2620H forms a bearing2760(part of which is illustrated inFIGS. 14A-14C) that receives the pivot pin2720and locates the pivot pin2720(and the articulating support2622) relative to the base2620. For example, the bearing2760forms, with the pivot pin2720, the pivot axis AX30and sets a lateral distance D30of the pivot pin from, for example, a centerline CL of the base2620. For example, the pivot pin2720includes a head2720H that is laterally held captive by the bearing2760so as to control the lateral distance D30and provide a running clearance between the base interface surface2750and the housing2620H. In the example shown the bearing2760is integrally formed with the housing bottom2620HB and a housing top2620HT; however, in other aspects, the bearing2760may have any suitable configuration and be coupled to the housing2620H in any suitable manner.

The housing2620H includes a pivot guide2770that extends from one or more of the housing bottom2620HB and housing top2620HT. The pivot guide2770extends through the guide slot2730and guides, through interface with the guide slot2730, pivoting movement of the articulating support2622about the pivot axis AX30. It is noted that the guide slot2730has a length that limits the rotation of the articulating support2622about the pivot axis AX30to any suitable angular range of rotation so as to prevent undesired tipping of the infant seat7beyond a predetermined rotation range when the infant seat is coupled to the base3.

The base2620includes pivot-lock arms2780that are configured to extend into and retract from the pivot stop apertures2740A-2740C for adjusting the angle θ of the infant seat7when the infant seat7is coupled to the base3. Each pivot-lock arm2780is slidably mounted to the housing2620H so as to reciprocate in direction D27. Any suitable resilient member2781(such as a coil spring, resilient foam, etc.) is provided within the housing2620H and is configured to bias the respective pivot-lock arm2780to an extended position (i.e., towards the respective articulating support2621,2622) and into one of the pivot stop apertures2740A-2740C. It is noted that while the pivot-lock arms2780and the pivot stop apertures2740A-2740C are illustrated as having a rectangular cross section, in other aspects, the pivot-lock arms2780and the pivot stop apertures2740A-2740C may have any suitable cross-section.

Actuation of the pivot-lock arm2780from the extended position (e.g., extending through one of the pivot stop apertures2740A-2740C—shown inFIG. 14A) to a retracted position (shown inFIGS. 14B and 14C) for allowing pivoting movement of the infant seat7relative to the base3is provided by handle2785. The handle2785is movable coupled to the base2620so as to move substantially in direction D26. Here each pivot-lock arm2780includes a cam surface2782and the handle2785includes a mating cam surface2786such that movement of the handle2785in direction D26A causes mating cam surface2786to engage cam surface2782thereby moving the pivot-lock arms2780in direction D27towards the centerline CL of the base2620(against the bias provided by resilient member2781) to retract the pivot-lock arms2780from the pivot stop aperture2740A-2740C. Retracting the pivot-lock arms2780from the pivot stop aperture2740A-2740C provides for rotational movement of the articulating supports2621,2622about the pivot axis AX30for adjusting the angle the angle θ of the infant seat7relative to the base3. Movement of the handle2785in direction D26B disengages mating cam surface2786from cam surface2782such that the bias from the resilient members2871moves the pivot-lock arms2780away from the centerline CL of the base2620and extends the pivot-lock arms2780into a respective one of the pivot stop apertures2740A-2740C. Extension of the pivot-lock arms2780into the respective pivot stop aperture2740A-2740C arrests/prevents rotational movement of the articulating supports2621,2622(and the infant seat7) relative to the base3and sets/locks the angle θ to a predetermined infant seat recline angle that corresponds with a selected pivot stop aperture2740A-2740C (e.g., a lockable recline position of the infant seat7is provided). In one or more aspects, the handle2785is biased in direction D26B through interface between cam surface2782and mating cam surface2786and the biasing force of the resilient members2781. In other aspects, the handle2785is biased in direction D26B with any suitable biasing member (e.g., springs, resilient foam, etc.).

Referring toFIGS. 1, 1A, and 1C, the base3of the infant care apparatus1includes a bottom support housing4, a top enclosure5positioned over and at least partially covering the bottom support housing4a housing280including a cover280C and a skirt280S, and a housing base281. In one aspect, the housing280is configured to house the infant support coupling200. The infant support coupling200is disposed in the housing such that the housing cover280C at least partially encloses the infant support coupling200and the skirt280S extends from the housing cover280C so as to circumscribe or surround at least a portion of the drive mechanism10that extends through a surface5A of the top enclosure5. The housing base281is configured to couple the infant support coupling200to the drive mechanism10(FIG. 14) as will be further described herein. The top enclosure5includes the surface5A which at least partially covers an opening through which the drive mechanism10, supported on the bottom support housing4, extends as will be further described herein. The surface5A may be an articulated surface configured so that the opening formed therein moves with the drive mechanism10.

In one aspect, the base3may have fixed or detachable legs9. In one aspect, the legs9may be adjustable to raise or lower a height of the infant care apparatus1relative to, e.g., a floor surface or table on which the infant care apparatus1is placed. The legs9include feet9A that are contoured or otherwise shaped and sized so that the legs9slide easily across a floor surface. For example, the feet9A may have curved edges to substantially avoid snagging of the feet9A on the flooring surface as the infant care apparatus1slides across the floor surface under the influence of an external motive force. In one aspect, the base3may further include a storage basket18provided to storage infant or baby gear, accessories, etc. The storage basket18may be mounted to the legs9or any other suitable portion of the infant care apparatus1. In one aspect, the base3may include a portable music player dock55, with speakers56and an input jack57, for playing music or other pre-recorded sounds.

Referring now toFIGS. 1, 3, 4, 5A-5F, and 6the mating support member8of the infant support2is configured so as to be releasably coupled to the base3. Coupling of the infant support2is described herein with respect to the infant seat7, however, it should be understood that in some aspects, the infant bed6may be coupled to the base3in a substantially similar manner using the mating support member8shown inFIGS. 1 and 1A. As noted above, the infant care apparatus1includes the infant support coupling200arranged so as to releasably couple the mating support member8of the infant support2to the base3. The infant support coupling200includes a movable support210and automatically actuable grip members220,225such as on placement of the infant seat7onto the infant support coupling200.

With particular reference toFIGS. 3 and 4, the movable support210is movably connected to the base3in any suitable manner so as to move in direction D2. The movable support210is disposed so as to form a support seat211that engages and supports the mating support member8of the infant support2. The movable support210includes ribs214which couple to the base3. The ribs214include a slotted hole215through which a pin299is inserted to constrain motion of the movable support210in direction D2. The slotted hole215has an elongated shape so that the movable support210may move between a first raised position1150(FIG. 5F) and a second lowered position1160(FIG. 5B) in direction D2as will be described in greater detail below. The movable support210further includes a camming mechanism212(see, at leastFIG. 5A) having camming surfaces213which are configured to interface with the automatically actuable grip members220,225so as to automatically actuate the automatically actuable grip members220,225between a clamped or closed position240(FIG. 5A) and an unclamped or open position230(FIG. 5F).

Referring toFIGS. 1, 3, 4, 5A-5F, 6, 7A-7B, and 8A-8C, the automatically actuable grip members220,225each include a base231,235with an aperture232,236, through which a respective pin299extends, and cam follow surfaces222,227. Clamp arms233,237extend from the base231,235and include gripping surfaces234,238. The automatically actuable grip members220,225are coupled to a respective pin299so as to rotate relative to both the movable support210, and the base3between the open position230and the closed position240(as seen best inFIGS. 5A-5F). In one aspect, the automatically actuable grip members220,225are coupled to their respective pin299so as to freely rotate relative to the pin299; while in other aspects, the automatically actuable grip members220,225and the respective pin299may rotate as a unit relative to the slotted hole215and the movable support210. The automatically actuable grip members220,225are disposed with respect to the infant support2to effect gripping of the infant support2with gripping surfaces234,238(FIG. 8B) when the infant support2is positioned on the support seat211. The automatically actuable grip members220,225actuating between the open position230and the closed position240captures and releases the mating support member8of the infant support2. The automatically actuable grip members220,225are automatically actuable between the open and closed positions230,240, by action of the movable support210.

For example, referring also toFIGS. 9A-9C, the infant care apparatus1may further include at least one toggle mechanism250. In one aspect, the at least one toggle mechanism250may form an indicator to indicate the position of the movable support210. For example, the at least one toggle mechanism250may emit an aural or tactile signal to indicate the position. In one aspect, the movable support210may be supported on at least one toggle mechanism250which is configured to toggle the movable support210between the first raised position1150and the second lowered position1160. The at least one toggle mechanism250utilizes an angled tooth cam251and a spring252to toggle between first raised position1150and the second lowered position1160. For example, when the movable support210is lowered in direction D4(FIGS. 5A-5F and 9B) (such as when the infant support2is being coupled to the base3), the at least one toggle mechanism250is compressed and the angled tooth cam251rotated in direction R1. In this position, the spring252within the at least one toggle mechanism250is loaded with the angled tooth cam251in a compressed and locked position. In this position both the at least one toggle mechanism250and the movable support210supported thereon are in the lowered state. When the movable support210is moved in direction D5(FIGS. 5A-5F and 9B) again (such as when removing the infant support2), the at least one toggle mechanism250is compressed which rotates the angled tooth cam251in direction R1unlocking the at least one toggle mechanism250and allowing the spring252of the at least one toggle mechanism250to move the movable support210in direction D5(FIGS. 5A-5F and 9B).

With the at least one toggle mechanism250(and thus the movable support210) in the raised position1150, the automatically actuable grip members220,225are in and remain in the open position230through interaction between the camming mechanism212and the cam follower surfaces222,227of the automatically actuable grip members220,225. With the automatically actuable grip members220,225in the open position230, the mating support member8of the infant support2is free to be removed or placed within the support seat211of the movable support210so as to mount the infant support2to the base3. In order to bias the automatically actuable grip members220,225in the open position230, the cam follow surfaces222,227of the automatically actuable grip members220,225are configured to interface with the camming surfaces213of the camming mechanism212. For example, without the infant support2present on the support seat211, the movable support210is in the first raised position1150such that the camming surfaces213of the camming mechanism212are engaged with and biasing the cam follower surfaces222,227of the automatically actuable grip members220,225in direction T5and direction T6, respectively, to the open position230against the biasing force of torsion springs260. As the mating support member8of the infant support2is placed on the movable support210by a user and the movable support210is moved in direction D4into the second lowered position1160, the camming surfaces213of the camming mechanism212are disengaged from the cam follow surfaces222,227(i.e., lowered such that the cam follow surfaces222,227of the automatically actuable grip members220,225follow or slide along the camming surfaces213of the camming mechanism212in respective direction D6and direction D7). The torsion springs260of the respective automatically actuable grip members220,225effects rotation of the respective automatically actuable grip members220,225in respective direction T1and direction T2. The respective torsion springs260biases the automatically actuable grip member220in direction T1and the automatically actuable grip member225in direction T2about respective pivot axes221,226to place the automatically actuable grip members220,225in the closed position240.

Referring toFIGS. 3, 4, and 7A-7Bin one aspect, the infant support coupling200includes a first recline locker31and a second recline locker33each including locking pads35which are configured to engage the mating support member8so as to lock a position of the mating support member8relative to the base3and setting the angle θ (FIG. 1). The first recline locker31and second recline locker33are substantially similar to the locking mechanism described in U.S. Pat. No. 10,231,555 previously incorporated herein by reference. The locking pads35may be manufactured from rubber or any other suitable material. The first recline locker31and the second recline locker33are configured to removably engage the locking pads35with the mating support member8positioned within the support seat211by movement of a Z-linkage (not shown). Movement of the Z-linkage causes movement of both the first recline locker31and the second recline locker33in direction D12to lock and release the mating support member8relative to the base3. For example, to lock the mating support member8relative to the base3, the Z-linkage drives the first recline locker31in direction D9and the second recline locker33in direction D8such that the first recline locker31and the second recline locker33move toward a centerline CL of the infant support coupling200. The mating support member8is released when the Z-linkage is actuated to drive the first recline locker31in direction D8and the second recline locker33in direction D9away from the centerline CL of the infant support coupling200. The first recline locker31and the second recline locker33may include lock members36to lock the automatically actuable grip members220,225in place. The lock members36are configured to move with the first recline locker31and the second recline locker33in direction D3. For example, when the second recline locker33is moved in direction D8to lock the mating support member8relative to the base3, the lock member36is also moved in direction D8and positioned under the automatically actuable grip member225. The automatically actuable grip member225includes a lock surface36A (FIG. 7B) that interfaces with the lock member36and “locks” the automatically actuable grip member225(i.e., prevents rotation of the automatically actuable grip member225). The lock members36are coupled to the movement linkage of the recline lockers31,33so as to move between locked and unlocked positions coincident with the recline lockers31,33being engaged and disengaged.

Referring now toFIGS. 10-12, infant support coupling200′ is illustrated in accordance with another aspect of the disclosed embodiment. The infant support coupling200′ is substantially similar to infant support coupling200unless where noted below. In this aspect, the infant support coupling200′ includes automatically actuable grip members220′,225′, and the housing cover280C of the housing280acts as the movable support210described above. Here, the housing cover280C is movably coupled to the base3in any suitable manner, such as, by the housing base281such that the housing cover280C moves in direction D2relative to the housing base281fixedly mounted to the base3. It is noted that the skirt280S is coupled to the housing base281independent of the housing cover280C so that the housing cover280C moves in direction D2relative to the skirt280S. The skirt280S extends from the housing base281(or with respect to the infant support coupling200′) so as to circumscribe or surround at least a portion of the drive mechanism10that extends through the surface5A. The housing cover280C includes camming mechanism283with camming surfaces284to effect automatic actuation of the automatically actuable grip members220′,225′ as will be described below.

The automatically actuable grip members220′,225′ each include a base231′,235′ with an aperture232′,236′, through which a respective pin299′ extends, and cam followers222′,227′ extending from the base231′,235′. Clamp arms233′,237′ extend from the base231′,235′ and include gripping surfaces234′,238′. The automatically actuable grip members220′,225′ are coupled to the respective pins299′ so as to rotate relative to the housing cover280C (and the base3) between the open position230and the closed position240. Here, the camming surfaces284of the camming mechanism283are engaged with and biasing the cam followers222′,227′ of the automatically actuable grip members220′,225′ in the open position230when the housing cover280C is lowered in direction D4. As the mating support member8of the infant support2is placed on the movable support210by a user and the movable support210is lowered in direction D4into the second position, the camming surfaces284of the camming mechanism283are lowered in direction D4such that the cam followers222′,227′ of the automatically actuable grip members220′,225′ are rotated in respective directions T5and direction T6which forces the automatically actuable grip members220′,225′ into the open position230. A torsion spring integrated into the automatically actuable grip members220′,225′ effects rotation of the automatically actuable grip members220′,225′ in respective direction T3and direction T4on the automatically actuable grip members220′,225′ to force them into the closed position240when the camming mechanism283is disengaged (i.e., the housing cover280C is toggled into the raised position). The infant support coupling200′ may further include shock towers288to absorb any impacts and retain stability of the infant support coupling200′.

Referring toFIGS. 1C, 1D, and 13A-15C, in one or more aspects as described herein, the infant seat7includes the articulated span member or infant support coupling266that is configured to couple with the infant support receiver coupling200C. The infant support receiver coupling200C is substantially similar to infant support coupling200unless noted otherwise and is configured to receive the infant support coupling266as described herein. Here, the infant support receiver coupling200C includes a seating surface2710(FIG. 27) that is configured to receive the articulated span member266. For example, as noted above, articulated span member266includes the base2620(which only a portion of which is illustrated inFIGS. 14A-14C) and articulating supports2621,2622rotatably coupled to the base2620. The base2620has a mating surface2620B and the infant support receiver coupling200C has a complimentary mating surface200CS upon which the mating surface2620B seats. Here, the complimentary mating surface200CS is configured to locate the base2620in a predetermined location on the infant support receiver coupling200C. For example, with specific reference toFIG. 15A, the complimentary mating surface200CS includes a protrusion2801and the mating surface2620B of the base2620includes a recess2800, where the recess2800is placed over and mates with the protrusion2801to at least partially locate the base2620(and the infant seat7) on the infant support receiver coupling200C.

The base2620includes a locking post2810that extends from the mating surface2620B. The complimentary mating surface200CS of the infant support receiver coupling200C includes an aperture2820that receives the locking post2810to at least partially locate the base2620(and the infant seat7) on the infant support receiver coupling200C. The locking post2810extends through the aperture2820to an interior of the infant support coupling where the locking post2810engages and disengages a movable locking arm2830of the infant support receiver coupling200C. In one or more aspects, the locking post2810includes a groove2840and the locking arm2830includes a fork2841that extends into the groove2840when the locking arm is engaged with the locking post2810. The fork2841within the groove2840substantially locks the base2620to the infant support receiver coupling200C in the direction D28while engagement of the locking post2810with the aperture2820substantially locks the base2620to the infant support receiver coupling200C in the directions D26, D27(see alsoFIG. 14C). In other aspects, the locking arm2830, locking post2810, and mating surfaces2620B,200CS may have any suitable configuration for locating and locking the base2620(and the infant seat7) to the infant support receiver coupling200C. The infant support receiver coupling200C includes an anti-rotation surface2710(seeFIGS. 14A-14C) that engages a side2620A of the base2620so as to substantially prevent rotation of the base2620(and the infant seat7) relative to the infant support receiver coupling200C in direction D25; while in other aspects, the base2620and the infant support receiver coupling200C include any suitable anti-rotation features (e.g., pins/recesses, mating grooves/protrusions, etc.) to substantially prevent rotation of the base2620(and the infant seat7) relative to the infant support receiver coupling200C in direction D25.

Still referring toFIGS. 15A-15C, as noted above the locking arm2830is movable so as to engage and disengage the locking post2810. In one or more aspects the locking arm2830moves linearly in direction D20to engage the locking post2810and linearly in direction D21to disengage the locking post2810; however, in other aspects the locking arm may be provided with a pivoting motion so that the fork2841travels along an arcuate path to engage and disengage the groove2840in the locking post2810. In the example, shown inFIGS. 15A-15C, the locking arm2830forms part of a cam lock mechanism that includes cam lever2878, locking arm2830, and slide2877. The locking arm2830is mounted to the slide2877in any suitable manner. For example, in one aspect, the locking arm2830is mounted to the slide2877so as to be slidable relative to the slide2877. Here the slide2877includes a ramp surface2877R and the locking arm2830includes a mating ramp surface2830R. The coupling between the slide2877and the locking arm2830is arranged so that the locking arm2830is able to move relative to the slide in directions D20, D21where the engagement between the ramped surfaces2877R,2830R (as the locking arm2830is moved in directions D20, D21relative to the slide2877) causes the locking arm2830to move in direction D28. As an example, the slide includes a guide2877G (e.g., a rail, protrusion, or any other suitable linear guide) to which the locking arm2830is coupled and slides along, e.g., slides in a plane defined by the engagement between the ramp surfaces2877R,2830R. Here the guide2877G provides for movement of the locking arm2830in directions D20, D21relative to the slide2877while maintaining coupling engagement between the locking arm2830and the slide2877(i.e., the movement of the locking arm2830in direction D28is a result of the ramp surfaces2877R,2830R and not any lifting of the locking arm2830from the slide2877). Any other suitable fasteners or guide pins2889A,2889B may be provided for guiding movement of the locking arm2830relative to the slider2877and/or for movably coupling the locking arm2830to the slider2877.

The slide2877is biased (such as by any suitable resilient members2811such as springs) in direction D21. Movement of the slide2877(and the locking arm2830) is controlled by the cam lever2878that is pivotally coupled, about pivot axis AX28, to one or more of the housing cover280C, skirt280S, or any other suitable frame member of the infant support receiver coupling200C. The cam lever2878includes a cam surface2878S that is configured, in combination with the bias exerted on the slide2877, to effect movement of the slide2877(and the locking arm2830) in directions D2, D21. For example, as the cam lever2878is rotated about pivot axis AX28in direction R28(e.g., a handle2878H of the cam lever is moved away from the housing cover280C and/or skirt280S) the cam surface2878S is a lobed surface having a lobe peak2878P (i.e., the distance between the axis AX28and the cam surface2878S is greatest at the peak2878P), where the cam surface2878S is configured to effect movement of the slide2877, in combination with the biasing of the slide2877, in direction D21so that the fork2841disengages the groove2840so as to release the infant seat7from the base3. For example, as the cam lever2878is rotated in direction R28the lobe peak2878P causes an initial movement of the slider2877in direction D20, where when engagement between the cam surface2878S and the slider2877is past the lobe peak2878P, the cam surface2878S causes a subsequent movement of the slider in direction D21so that the fork2841disengages the groove2840. The initial movement of the slider2877in direction D20causes locking arm2830to ride up on the ramped surface2877R which raises the locking arm2830in direction D28A to assist in the release of the seat7through vertical disengagement of mating surfaces of the fork2841and groove2840. As the cam lever2878is rotated about pivot axis AX28in direction R27(e.g., the handle2878H of the cam lever is moved towards the housing cover280C and/or skirt280S) the cam surface2878S is configured to effect movement of the slide2877, in combination with the biasing of the slide2877, in direction D20so that the fork2841engages the groove2840so as to lock the infant seat7to the base3. Here, as the cam lever2878is rotated in direction R27the initial movement of the slider2877is in direction D20, where when engagement between the cam surface2878S and the slider2877is past the lobe peak2878P, the cam surface2878S causes a subsequent movement of the slider in direction D21so that the fork2841engages the groove2840. The subsequent movement of the slider2877in direction D21causes locking arm2830to ride down on the ramped surface2877R which lowers the locking arm2830in direction D28B to assist in the locking of the seat7through vertical engagement of mating surfaces of the fork2841and groove2840. In other aspects, the locking arm2830may not move in the direction D28.

As described above, the bias on the slide2878is provided by resilient member2811illustrated inFIGS. 15B and 15C. In the example illustrated inFIGS. 15B and 15Cthe resilient member2811is a torsion spring that is configured so that the bias of the torsion spring tends to straighten torsion links2890,2891relative to one another (i.e., resist bending of torsion links relative to each other about pivot axis AX29). Here, one end of the torsion link2890is pivotally coupled to the slide2877while the other end of the torsion link2890is pivotally coupled to one end of torsion link2891about pivot axis AX29. The other end of torsion link2891is pivotally coupled to the housing cover280C, skirt280S, or any other suitable frame member of the infant support receiver coupling200C about axis AX27. As the cam lever is rotated in direction R28, the bias of the resilient member2811on the torsion links2890,2891pushes the slide2877in direction D20against the cam surface2878S (causing the torsion links2890,2891to unfold relative to each other) so that the locking arm2830disengages the locking post2810. As the cam lever is rotated in direction R27, the cam surface2878pushes the slide2877in direction D21against the bias of the resilient member2811on the torsion links2890,2891(causing the torsion links2890,2891to fold relative to each other) so that the locking arm2830engages the locking post2810.

It is noted that while a single locking arm2830and locking post2810are illustrated inFIG. 15A, in other aspects, any suitable number of locking arms and locking posts may be provided. For example, as illustrated inFIGS. 15B and 15C, the infant support receiver coupling200C can include more than one slider2877,2877A where more than one locking arm (substantially similar to locking arm2830) can be mounted to each slider2877,2877A. Here, another torsion member2892is pivotally coupled at one end to torsion member2891and pivotally coupled at the other end to slider2877A. Another resilient member2811A (substantially similar to resilient member2811) is provided to bias torsion member2892relative to torsion member2891in a manner substantially similar to that described above. In this aspect, as the cam lever2878is rotated in direction R28, slider2877moves in direction D20while slider2877A moves in direction D21so that the sliders move in opposite directions away from each other to provide an opposing release movement of the respective locking arms from the respective locking posts (e.g., locking arms on slider2877A oppose the locking arms on slider2877—seeFIG. 15B). As the cam lever2878is rotated in direction R27, slider2877moves in direction D21while slider2877A moves in direction D20so that the sliders move in opposite directions towards each other to provide an opposing locking movement of the respective locking arms to the respective locking posts.

Referring now toFIGS. 1E, 25A, and 25B, in one aspect, the infant care apparatus1may include a drive mechanism10coupled to the base3, a vibratory mechanism90,90A, and a control system50(including controller51) communicably coupled to each of the drive mechanism60and the vibratory mechanism90,90A. In one aspect, referring also toFIGS. 16A-16C, 18A-19B, and 21A-24, the drive mechanism10is coupled to the base3in any suitable manner so that the infant support coupling200is coupled to and supported by the drive mechanism10(as described herein), and so that at least a portion of the drive mechanism10is shrouded by the housing cover280C and/or skirt280S. The drive mechanism10has a first electromechanical driver2510(e.g., one or more of a multi-actuator motion module1600A,1600B,1600C and a reciprocating (or cyclic) motion stage2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C) that defines at least a first degree of freedom forming at least a first axis of motion (e.g., a linear or rotational motion—seeFIG. 25A) of a movable infant load seat surface1690. As described herein, the movable infant load seat surface1690is dependent from and movable relative to the base3.

The drive mechanism10is a distributed drive mechanism10D distributed to the base3and the infant support2, wherein the distributed drive mechanism10D includes a second electromechanical driver2511integral with the infant support, the second electromechanical driver2511(e.g., another one or more of a multi-actuator motion module1600A,1600B,1600C and a reciprocating motion stage2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C) being separate and distinct from the first electromechanical driver2510, and defining at least a second degree of freedom (i.e., that is independent of the first degree of freedom) forming at least a second axis of motion (e.g., a linear or rotational motion—seeFIG. 25A) of the infant support2. As will be described herein, one or more of the first electromechanical driver2510and the second electromechanical driver2511is at least one of a rotary motor, a linear motor, and a linear actuator (seeFIGS. 20A-20D and 21A-24).

While, the distributed drive mechanism10D has been described as having a first electromechanical driver2510located with the base3and a second electromechanical driver2511located with the infant support2, each of the first and second electromechanical drivers2510,2511may include more than one separate and distinct electromechanical driver that each define a respective degree of freedom and form a respective axis of motion of the infant support and/or the movable infant load seat surface1690. For example, referring also toFIG. 25Athe first electromechanical driver2510(of the base3) includes more than one separate and distinct electromechanical driver (e.g., more than one of the multi-actuator motion module(s)1600A,1600B,1600C and reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C). Each of the more than one of the multi-actuator motion module(s)1600A,1600B,1600C and reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C (e.g., of the first electromechanical driver2510) being separate and distinct from each other, and defines an independent degree of freedom forming an independent axis of motion (e.g., linear or rotational—seeFIG. 25A), so that the first electromechanical driver2510defines two or more independent degrees of freedom. Similarly, the second electromechanical driver2511(of the infant support2) includes more than one separate and distinct electromechanical driver (e.g., more than one of the multi-actuator motion module(s)1600A,1600B,1600C and reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C). Each of the more than one of the multi-actuator motion module(s)1600A,1600B,1600C and reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C (e.g., of the second electromechanical driver2511) being separate and distinct from each other, and defines an independent degree of freedom forming an independent axis of motion (e.g., linear or rotational—seeFIG. 25A), so that the second electromechanical driver2511defines two or more independent degrees of freedom. Each of the one or more multi-actuator motion module(s)1600A,1600B,1600C and reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C of the first electromechanical driver2510moves in a coordinated manner with the one or more multi-actuator motion module(s)1600A,1600B,1600C and reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C of the second electromechanical driver2511to provide the different combinations of linear and rotational motions illustrated inFIG. 25A(e.g., reciprocating rotational motions effected by a reciprocating motion stage are indicated inFIG. 25Awith curved double-ended arrows and the “STAGE” identifier, substantially straight line linear motions effected by a reciprocating motion stage are indicated inFIG. 25Awith straight double-ended arrow and the “STAGE” identifier, circular rotational motions along effected by a multi-actuator motion module are indicated inFIG. 25Awith a circular double-ended arrow and the “MAM” identifier, and linear motions effected with a multi-actuator motion module are indicated inFIG. 25Awith straight double-ended arrows and the “MAM” identifier).

As can be seen inFIGS. 16A-16Cthe multi-actuator motion module1600A,1600B,1600C includes a module base1601that has a hemispherical shape, hemi-spheroid shape, or any other suitable shape that forms a movable infant load seat surface1690and effects a substantially single point of contact (e.g., at an apex1699of the movable infant load seat surface1690) with a support surface (e.g., a floor, table, coupling platform of a reciprocating motion stage, coupling surface of a another multi-actuator motion module, a substantially planar mating base surface3B of the base (seeFIG. 1A), etc.) on which the multi-actuator motion module1600A,1600B,1600C is placed. Here, the infant load seat surface1690is a curved surface with the apex1699mated against, e.g., the substantially planar mating base surface3B of the base3. The movable infant load seat surface1690is disposed so that the apex moves relative to the base3under impetus imparted to the movable infant load seat surface by a first linear or rotational motion that is determined by the first axis of motion (seeFIG. 25A). The base1601includes a coupling surface1620to which the infant support coupling200or another of the one or more multi-actuator motion module1600A,1600B,1600C and a reciprocating motion stage2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C is coupled.

The multi-actuator motion module1600A,1600B,1600C includes at least two actuators coupled to the module base1601that are configured to effect, at least one axis of motion, which when located with the base3is the first axis of motion and when located with the infant support2is a second axis of motion. The motion provided by the at least one axis of motion of the multi-actuator motion module provides at least an inverted pendulum (e.g., rocking) movement of the module base1601.

In the aspect illustrated inFIGS. 16A-16Cthe module base1601includes a hemispherical shape or hemi-spheroid shape1666with three actuators1610-1612coupled thereto. The surface of the hemispherical shape or hemi-spheroid shape1666forms the movable infant load seat surface1690. The three actuators1610-1612are radially spaced about a centerline1625(e.g., the centerline1625extends substantially orthogonal from a center of the coupling surface1620). Here the actuators1610and1611are spaced apart by angle α1, the actuators1611and1612are spaced apart by angle α3, and the actuators1610and1612are spaced apart by angle α2. In one aspect, the angles α1, α2, α3are substantially the same, while in other aspects the angles α1, α2, α3are any suitable angles for effecting the movements of the module base1601described herein.

The actuators1610,1611,1612are coupled to and under control of, for example, the controller51so that each actuator1610,1611,1612is actuable independent of the other actuators1610,1611,1612. The multi-actuator motion module1600A,1600B,1600C also includes any suitable sensors1630(e.g., encoders, limit switches, etc. similar to those described herein) coupled to the controller51and a respective one of the actuators1610,1611,1612. The sensors1630are configured to sense a position of the respective actuator1610,1611,1612and provide motion feedback to the controller51. The controller51is configured with any suitable non-transitory program code so that the controller51receives the motion feedback from the sensors1630and effects movement of one or more of the actuators1610,1611,1612that corresponds to a predetermined motion path (the predetermined motion path being selected by a user from the control panel52C or any other suitable user interface (as described herein). Exemplary motion paths/motions that are generated through controlled actuation (e.g., by the controller51) of the actuators1610,1611,1612are illustrated inFIGS. 17A-17C, although other motion paths may be possible.FIG. 17Aillustrates a substantially straight inverted pendulum (e.g., rocking motion in direction1700) of the module base1601that is effected through a coordinated alternating actuation of, for example, actuator1610and an opposing actuation of both actuators1611,1612. For example, in an alternating manner, actuator1610is actuated to rock the module base1601in direction1700A and both actuators1611,1612are actuated to rock the module base1601in direction1700B so as to effect the rocking motion in direction1700.FIG. 17Billustrates a substantially circular (cyclic) motion path1701effected by, for example, coordinated sequential operation of the actuators1610,1611,1612(e.g., the actuators are independently actuated one after the other). Here the direction of the circular motion path (e.g. clockwise or counter-clockwise) is dependent on the sequential order in which actuators1610,1611,1612are actuated (noting that two or more of the actuators1610,1611,1612may be actuated at the same time but by different amounts of stroke to effect the circular motion path1701).FIG. 17Cillustrates a substantially ovoid (cyclic) motion path1702that is effected in a manner substantially similar to that described herein for the substantially circular motion path1701.

In the aspect illustrated inFIGS. 18A and 18Bthe module base1601includes at least one rocker1810(two are illustrated inFIGS. 18A and 18Bfor exemplary purposes only and in other aspects there may be one or more than two rockers) whose curved contact surface1810C extends between opposite ends1801,1802of the module base1601. The curved contact surface1810C of the at least one rocker1810forms the movable infant load seat surface1690having the apex1699. The at least one rocker1810is configured to provide the module base1601with a linear rocking motion along a single axis that extends between ends1801,1802. In this aspect, there is at least one actuator1610,1611disposed at or adjacent each end1801,1802.

As described above, the actuators1610,1611are coupled to and under control of, for example, the controller51so that each actuator1610,1611is actuable independent of the other actuator1610,1611. The controller51is configured with any suitable non-transitory program code so that the controller51receives the motion feedback from the sensors1630(described above) and effects movement of one or more of the actuators1610,1611so that the coupling surface1620(and the infant support2coupled thereto) moves along the curved motion path1888which may be a component of a predetermined motion path being selected by a user from the control panel52C or any other suitable user interface (as described herein).

In the aspect illustrated inFIGS. 19A and 19Bthe module base1601includes the hemispherical shape or hemi-spheroid shape1666as inFIGS. 16A-16C; however, in this aspect there two actuators1610A,1611A that are coupled to the module base1601so that the actuators are diametrically opposite one another. The actuators1610A,1611A are substantially similar to actuators1610,1611; however, a pusher or leg1929of the actuators1610A,1611A is a forked pusher or leg1929F so as to substantially confine movement of the coupling surface1620to a linear rocking movement that is substantially similar to that ofFIGS. 18A and 18B.

As described above, the actuators1610A,1611A are coupled to and under control of, for example, the controller51so that each actuator1610A,1611A is actuable independent of the other actuator1610A,1611A. The controller51is configured with any suitable non-transitory program code so that the controller51receives the motion feedback from the sensors1630(described above) and effects movement of one or more of the actuators1610A,1611A so that the coupling surface1620(and the infant support2coupled thereto) moves along the curved motion path1888which may be a component of a predetermined motion path being selected by a user from the control panel52C or any other suitable user interface (as described herein).

Referring toFIGS. 16A-19B and 20A-20D, an exemplary actuator1610of the multi-actuator motion modules1600A,1600B,1600C will be described, noting that the other actuators1610A,1611,1611A,1612are substantially similar. The actuator1610includes a pusher or leg1929and one or more of a linear motor2021and a rotary motor2031. The pusher1929is coupled to the module base1601in any suitable manner. For example,FIG. 20Aillustrates a sliding coupling of the pusher1929to the module base1601. Here the pusher1929is coupled to a rail or track2022of the linear motor2021, where the rail2022follows the contour of the movable infant load seat surface1920. The pusher1929extends from the rail2022in a direction that is substantially orthogonal to the movable infant load seat surface1690. The linear motor2021is coupled to the controller51so that the controller51effects operation of the linear motor2021to drive the pusher1929in curvilinear direction2099along the track2022. As the pusher1929moves in direction2099A the pusher1929engages the base surface3B (FIG. 1A) of the base3(or any other suitable substantially planar mating surface, such surface1620of another multi-actuator motion module or platform70of a reciprocating motion stage on which the module base1601is superposed) so as to effect movement of the apex1699relative to the base3under impetus imparted to the infant load seat surface1690by the pusher1929in accordance with a selected motion profile of the infant care apparatus1.

FIG. 20Billustrates a sliding coupling of the pusher1929to the module base1601, where the module base1601has a contour surface1601CNT (distinct from the movable infant load seat surface1690) that at least in part defines a direction of motion of the pusher1929. Here the pusher1929is coupled to a rail or track2022A of the linear motor2021A, where the rail2022A seats against the contour surface1601CNT of the module base1601so that the contour surface1601CNT defines a distinct seating surface of the rail2022A on the module base1601. The pusher1929extends from the rail2022A in a direction that is substantially orthogonal to the contour surface1601CNT. The linear motor2021A is coupled to the controller51so that the controller51effects operation of the linear motor2021A to drive the pusher1929in linear direction2098along the track2022A. As the pusher1929moves in direction2098A the pusher1929engages the base surface3B (FIG. 1A) of the base3(or any other suitable substantially planar mating surface, such surface1620of another multi-actuator motion module or platform70of a reciprocating motion stage on which the module base1601is superposed) so as to effect movement of the apex1699relative to the base3under impetus imparted to the infant load seat surface1690by the pusher1929in accordance with a selected motion profile of the infant care apparatus1.

FIG. 20Cillustrates another sliding coupling of the pusher1929to the module base1601, where the module base1601has a recessed surface1601REC (distinct from the movable infant load seat surface1690or recessed into to the movable infant load seat surface1690) that at least in part defines a direction of motion of the pusher1929. Here the pusher1929is coupled to a rail or track2022A of the linear motor2021A, where the rail2022A seats against the recessed surface1601REC of the module base1601so that the recessed surface1601REC defines a distinct seating surface of the rail2022A on the module base1601. In this aspect, the pusher1929is coupled to the rail2022A so as to extend in a direction substantially parallel with or along the rail2022A in a direction that is substantially parallel to the recessed surface1601REC. The linear motor2021A is coupled to the controller51so that the controller51effects operation of the linear motor2021A to drive the pusher1929in linear direction2097along the track2022A. As the pusher1929moves in direction2097A the pusher1929engages the base surface3B (FIG. 1A) of the base3(or any other suitable substantially planar mating surface, such surface1620of another multi-actuator motion module or platform70of a reciprocating motion stage on which the module base1601is superposed) so as to effect movement of the apex1699relative to the base3under impetus imparted to the infant load seat surface1690by the pusher1929in accordance with a selected motion profile of the infant care apparatus1.

FIG. 20Dillustrates another rotary or pivot coupling of the pusher1929to the module base1601. Here the pusher1929is coupled to a pivot joint2023about pivot axis2023R. The pivot axis is coupled to or otherwise extends through the movable infant load seat surface (or a distinct surface as described above with respect toFIGS. 20B and 20C). A rotary motor2031is coupled to the pusher1929in any suitable manner (e.g., directly where the rotary motor is bi-directionally driven or in any other suitable manner) so as to pivot the pusher1929about axis2023R. In other aspects, a linear actuator2032may be employed to pivot the pusher1929about axis2023R in any suitable manner (e.g., such as where the axis2023R acts as a fulcrum for the pivoting movement of the pusher1929). The rotary motor2031(or linear actuator2032) is coupled to the controller51so that the controller51effects operation of the rotary motor2031(or the linear actuator2032) to rotate the pusher1929about the axis2023R in direction2096. As the pusher1929pivots in direction2096A the pusher1929engages the base surface3B (FIG. 1A) of the base3(or any other suitable substantially planar mating surface, such surface1620of another multi-actuator motion module or platform70of a reciprocating motion stage on which the module base1601is superposed) so as to effect movement of the apex1699relative to the base3under impetus imparted to the infant load seat surface1690by the pusher1929in accordance with a selected motion profile of the infant care apparatus1.

While different exemplary types of actuator configurations have been described separately with respect toFIGS. 20A-20D, it should be understood that the module base1601may include any combination of the different exemplary types of actuators. For example, the module base1601may include any suitable combination of the pivoting and linearly guided actuators described above with respect toFIGS. 20A-20D.

Referring toFIGS. 21A-24the reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C will be described. The reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C are each configured to effect a linear (e.g., straight line movement) or rotational movement of the infant support2. As noted herein, the linear and rotational movements and the corresponding planes/axes thereof are indicated inFIG. 25Aby the “STAGE” identifier accompanying the double ended arrows. In a manner similar to that of the multi-actuator motion modules1600A,1600B,1600C, the reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C may be disposed in one or more of the base3and infant support2as a component of the first and second electromechanical drivers2510,2511. Also, in a manner similar to that of the multi-actuator motion modules, each of the reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C may be superposed on another of the reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C and/or multi-actuator motion modules1600A,1600B,1600C so as to provide a compound motion profile where at least one motion is superposed on another motion. As will be described herein, the reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C include one or more of a rotary actuator and reciprocating crank mechanism (seeFIGS. 21A, 22A), a linear actuator (seeFIGS. 21B, 22B, 23), a linear motor (seeFIGS. 21C, 22C), and a bidirectional rotation rotary motor (seeFIG. 24).

Referring toFIGS. 21A, 22A, the reciprocating motion stages2100A,2100B include a base2177, a rotary actuator (e.g., motor)62coupled to the base2177, a movable platform70, a crank mechanism2111, and a track2112A,2112B. The track2112A,2112B is coupled to the base2177and is configured so that the platform70moves along and is guided by the track2112A,2112B along a predetermined motion path. The crank mechanism2111includes a crank member2111C coupled to an output of the rotary actuator62and drive link2111D. The drive link2111D has is rotatably coupled at a first end to the crank member2111C and is rotatably coupled at a second end to the platform70(such as at a base70B of the platform or any other suitable location of the platform70). Here, the rotary actuator62rotates the crank member62about a crank member axis of rotation CMAX which effects a reciprocating movement of the platform70that is guided by the track2112A,2112B and driven by the drive link2111D. As illustrated inFIGS. 21A and 22Ain one aspect the track2112A is a substantially straight line track that guides the platform70in a substantially straight motion2120A (e.g., that effects a linear motion of the infant support2); while in other aspects, the track2112B is a curved track that guides the platform70in a substantially curved motion2120B (e.g., that effects a rotation motion of the infant support2). The rotary actuators62are coupled to the controller51in any suitable manner (e.g., wired or wirelessly) so as to be driven in a predetermined manner, as described herein (and in some aspects in coordination with other ones of the multi-actuator motion modules1600A,1600B,1600C and the reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C) to effect the motion profiles described herein. As described herein, the platform70is configured for coupling to another of the multi-actuator motion modules1600A,1600B,1600C and the reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C or to the infant support2.

Referring toFIGS. 21B and 22B, the reciprocating stages2100A′,2100B′ are substantially similar to reciprocating motion stages2100A,2100B described above; however, in this aspect a linear actuator66is coupled at one end to the base2177and at the other end to the platform70. As the linear actuator66extends and retracts in direction LADX the extension/retraction of the linear actuator66effects a reciprocating motion of the platform70along the track2112A,2112B along a respective motion path (see, e.g., substantially straight motion2120A and a substantially curved motion2120B). The linear actuator66is coupled to the controller51in any suitable manner (e.g., wired or wirelessly) so as to be driven in a predetermined manner, as described herein (and in some aspects in coordination with other ones of the multi-actuator motion modules1600A,1600B,1600C and the reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C) to effect the motion profiles described herein.

Referring toFIGS. 21C and 22C, the reciprocating stages2100A″,2100B″ are substantially similar to reciprocating motion stages2100A,2100B described above; however, in this aspect a linear motor63,64is coupled the base2177. The linear motor includes a stator2116, a track63T,64T, and a slider2115that moves along the track63T,64T, under impetus of the stator2116, along a predetermined path of motion. The platform70is coupled to the slider2115so that as the slider moves along the track63T,64T the platform70moves with the slider2115. In one aspect, the linear motor63is a substantially straight linear motor that is configured to move the slider2115(and the platform70) in the substantially straight motion2120A along the track63T (e.g., and along a substantially straight motion path); while in other aspects the linear motor64is a curved linear motor that is configured to move the slider2115(and the platform70) in the substantially curved motion2120B along the track64T e.g., and along a substantially curved motion path). The linear motors63,64are coupled to the controller51in any suitable manner (e.g., wired or wirelessly) so as to be driven in a predetermined manner, as described herein (and in some aspects in coordination with other ones of the multi-actuator motion modules1600A,1600B,1600C and the reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C) to effect the motion profiles described herein.

Referring toFIG. 24, the reciprocating motion stage2100C includes a bi-directionally driven rotary actuator62B. Here the platform70is coupled (e.g., directly or indirectly through a transmission) to an output of the rotary actuator62B. The rotary actuator62B is coupled to the controller51in any suitable manner (e.g., wired or wirelessly) so as to be driven in a predetermined oscillating manner about axis CMAX in direction2444(and in some aspects in coordination with other ones of the multi-actuator motion modules1600A,1600B,1600C and the reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C) to effect the motion profiles described herein.

The reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C described herein may be coupled to the base3and/or infant support2in either a horizontal orientation (e.g., to provide motion of the infant support2in a horizontal plane) or in a substantially vertical orientation (or other suitable orientation that is angled relative to the horizontal plane to provide motion of the infant support2out of the horizontal plane—e.g., substantially vertical or any other suitable angle relative to the horizontal plane). For example, referring toFIG. 23, the linear motion stage2100A′, having the linear actuator66is coupled to (e.g., locate with) the base3or the infant support2(although any of the linear motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C may be coupled to the base3and/or infant support2in the substantially vertical orientation illustrated inFIG. 23) so as to move the platform70in substantially vertical direction2377. To reduce the size (e.g., power) of the linear actuator66, the linear motion stage2100A′ includes a biasing member2360configured to reduce a weight (e.g., of the infant support2and infant held within the infant support2) carried by the actuator. For example, the biasing member2360may be a compression spring, leaf spring, etc. configured to counter/oppose the weight of the infant support with the infant therein (so that the force provided by the biasing member2360is substantially equal to the weight of the infant support2with the infant therein) so that the load exerted on the linear actuator66is a reduced load (e.g., the linear actuator66is not lifting/lowering the full weight of the infant support with infant therein). It is noted that where one or more of the vertically oriented reciprocating motion stage, horizontally oriented reciprocating motion stage, and the multi-actuator motion module are located with the infant support2, the reciprocating motion stage or multi-actuator motion module (or the most inferior stage or module in the superposed modules) includes a stand or foot (substantially similar to base2620) that contacts a support surface (e.g., floor, etc.) on which the infant support2is to be placed. The foot may also effect coupling of the infant support to the base3in the manners described herein. Here the reciprocating motion stage or multi-actuator motion module is configured to provide a stable base of the infant support2on the support surface so that the stage or module stably imparts motion on the infant support.

The infant care apparatus1described herein includes one or more multi-actuator motion module1600A,1600B,1600C, one or more reciprocating motion stage2100A,2100A′,2100B,2100B′,2100C, or any suitable combination of multi-actuator motion module(s)1600A,1600B,1600C and reciprocating motion stage(s)2100A,2100A′,2100B,2100B′,2100C to effect any suitable motion profile including the motions described herein, such as with respect toFIGS. 25A and 26A-26E. As described herein, one of the multi-actuator motion module1600A,1600B,1600C, or reciprocating motion stage2100A,2100A′,2100B,2100B′,2100C may be superposed on another multi-actuator motion module1600A,1600B,1600C or reciprocating motion stage2100A,2100A′,2100B,2100B′,2100C. Referring also toFIGS. 25C and 25D, the multi-actuator motion module1600A,1600B,1600C and the reciprocating motion stage2100A,2100A′,2100B,2100B′,2100C are generically referred to as motion modules2550,2551such that each motion module2550,2551may be any one of the multi-actuator motion module1600A,1600B,1600C and the reciprocating motion stage2100A,2100A′,2100B,2100B′,2100C.FIG. 25Cillustrates the relative movement of the axes of each motion module2550,2551when one motion module2550,2251is superposed on another motion module2550,2551. As can be seen inFIG. 25C, and for exemplary purposes only, the motion module2550is configured to rotate its respective platform70about axis Rx (e.g., rotation about the X axis) (or in other aspects rotate the platform70about axis Ry (rotation about the Y axis) or Rz (rotation about the Z axis) or move the platform substantially linear along any of axes X, Y, or Z). The motion module2551superposed on motion module2550moves with the platform70and is also rotated about the X axis of motion module2550. As the motion module2551rotates about the X axis of motion module2550, the coordinate system2551X rotates as well so that any movement of the infant support2provided by the motion module2551is made with respect to the coordinate system2551X and is superposed on the movement effected by motion module2550. As also described herein, the motion module2551may be carried with the base3as part of the first electromechanical driver2510or carried with the infant support2as part of the second electromechanical driver2511(seeFIG. 25B). In accordance with the above,FIG. 25Aillustrates the different combinations of motions that may be imparted to the infant support by the different combinations of the multi-actuator motion module1600A,1600B,1600C and reciprocating motion stage2100A,2100A′,2100B,2100B′,2100C provided with the infant care apparatus1. A chart is provided inFIG. 25Athat illustrates the one or more motions provided by the distributed drive mechanism10D (e.g., by one or more of the multi-actuator motion module(s) (denoted by the identifier “MAM”) and reciprocating motions stage(s) (denoted by the identifier “STAGE”) located in one or more of the base3and infant support2). Lines connect each motion of the base with corresponding combinations of motions of the infant support (and vice versa) where the plane of movement (e.g., for a rotational movement about an axis) or a direction of movement (e.g., for a linear movement along an axis) of the motion are identified in the chart. For example, a rotational movement (indicated by a curved arrow as described herein) in plane X-Z is a rotational movement Rx about the Y axis; and a linear movement (indicated by a straight arrow as described herein) in direction X is a linear movement along the axis X. It is noted that that the rotational movements of the multi-actuator motion modules1600A,1600B,1600C illustrated inFIG. 25Amay be the circular/ovoid motions shown inFIGS. 17B, 17Cor a reciprocating arcuate motion that spans only a predetermined segment SSG of the circular/ovoid motion shown inFIGS. 17B, 17C.

Referring also toFIGS. 26A-26E, the control system50is configured so as to effect movement of the drive mechanism10in at least one motion profile in a manner substantially similar to that described in U.S. Pat. No. 10,231,555 issued on Mar. 19, 2019 and U.S. patent application Ser. No. 17/025,674 titled Infant Care Apparatus and filed on Sep. 18, 2020, the disclosures of which were previously incorporated herein by reference in their entireties. The at least one motion profile is/are pre-programmed selectably variable motion profiles, such as, Car Ride201, Kangaroo202, Ocean Wave204, Tree Swing206, and Rock-A-Bye208, as examples, and which are generated with one or more (e.g., any suitable combination) of the rotational motions and a linear motions described herein and provided by one or more of the multi-actuator motion module(s)1600A,1600B,1600C and/or reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C of the first and second electromechanical drivers2510,2511. Here, each of the different selectably variable motion profiles includes at least one of horizontal movements, vertical movements, and rotational movements described herein (see, e.g.,FIG. 25A). These selectably variable motion profiles are obtained by independently controlling the one or more horizontal movements, vertical movements, and rotational movements provided by the first electromechanical driver2510and the second electromechanical driver2511and then coordinating the horizontal, vertical and/or rotational movements to obtain visually distinctive motion profiles. However, these motion profiles are for exemplary purposes only and are not to be construed as limiting as any motion profile including horizontal, vertical, and/or rotational motions may be utilized. In one aspect, the different selectably variable motion profiles are deterministically defined by a selectably variable velocity characteristic of at least one of the horizontal, vertical, and/or rotational motions respectively of the first and second electromechanical drivers2510,2511, and a selectably variable velocity characteristic of at least one of the horizontal, vertical, and/or rotational motions respectively of the first and second electromechanical drivers2510,2511. The controller51of the control system50is configured to effect selection of the selectably variable motion profile by separate variance of motion characteristics of the separate respective first electromechanical driver2510and the second electromechanical driver2511(see, e.g.,FIG. 1E) of the distributed drive mechanism10D, with the infant support2coupled to the movable infant load seat surface1690(seeFIG. 1A), from a common selection input to the controller (of the control system50) selecting the selectably variable motion profile. As described herein, the controller51includes a user interface (e.g., such as control panel52,52C) configured to receive the common selection input from a user for selecting the selectably variable motion profile.

Referring again toFIGS. 1E, 16A, 17A-17C, 18A, 19A, and 21A-24, in one aspect, the vibratory mechanism90, is connected to the base3and is arranged so as to cooperate with the drive mechanism60, such as distributed drive mechanism60D. In another aspect, the vibratory mechanism90,90A is coupled to one (or more) of the first and second electromechanical driver2510,2511or any other suitable portion of the infant care apparatus1, such as to the infant seat7as shown inFIG. 1E. InFIG. 1Ethe vibratory mechanism90A is integral to one or more of the lower connector14and the upper connector13. The vibratory mechanism90A is substantially similar to vibratory mechanism90; however, the vibratory mechanism90A is coupled to the infant seat7. In one aspect, the vibratory mechanism90A includes controls that are separate and distinct from the controller51. For example, the vibratory mechanism90A includes any suitable switch247(e.g., similar to those switches described herein) that turns the vibratory mechanism90A on and off. The switch247, upon repeated presses/touches is also configured to cycle through different modes/patterns of vibration. In other aspects, the vibratory mechanism90A (with or without the switch247) is remotely coupled to the controller51through suitable wired or wireless connections so that the vibratory mechanism90A is controlled through, for example, the control panel52. Where a wired coupling is employed to couple the vibratory mechanism90A to the controller51, any suitable electrical couplings248are provided on the articulated span member266and base3that couple to each other (e.g., to provide communication between the vibratory mechanism90A and the controller51) when the infant seat7is coupled to the base3and decouple from each other when the infant seat7is decoupled from the base3.

In the aspects shown in Figs. the vibratory mechanism90is mounted to a platform70or module base1601of one (or more) of the first and second electromechanical drivers2510,2511. The vibratory mechanism90is positioned to reduce vibratory impulse imparted to the actuators/motors of the first and second electromechanical drivers2510,2511. The vibratory mechanism90includes a vibration motor91separate and distinct from the actuators/motors of the first and second electromechanical drivers2510,2511. The vibration motor91is configured so as to vibrate a respective one of the first and second electromechanical driver2510,2511. The vibration motor91may be any suitable vibration mechanism, such as, a motor with an eccentric weight on the output shaft that rotates about the output shaft to effect vibration. In other aspects, the vibration motor may be any suitable oscillating linear motor or rotary motor. The vibration motor91effects vibration in different patterns and intensity so as to form vibration modes which may be selectably imparted on the respective first and second electromechanical driver2510,2511as will be discussed in greater detail hereinafter. In one aspect, the vibration profile is superposed over the horizontal, vertical, and/or rotational motions of the first and/or second electromechanical driver2510,2511. For example, the vibratory mechanism90may be mounted to any of the multi-actuator motion module(s)1600A,1600B,1600C and/or reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C of the first and second electromechanical drivers2510,2511of the first and second electromechanical drivers2510,2511, e.g., such as to platform(s)70and/or module base(s)1601, to effect a desired vibration superposition. Alternatively, the vibratory mechanism90may be mounted to any of the respective driven portions of the first and second electromechanical drivers2510,2511. The portion of the multi-actuator motion module(s)1600A,1600B,1600C and/or reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C to which the vibratory mechanism90is attached may be selected freely from concern regarding coupling effecting respective reciprocal motions generated by the corresponding first and second electromechanical drivers2510,2511.

With reference toFIGS. 1 and 1F, the control system50may be mounted in the base3and provided to effect the different selectably variable motion profiles imparted, by the drive mechanism10, such as distributed drive mechanism10D, and to effect, via the vibratory mechanism90, the various vibration modes for each of the different variable motion profiles. The control system50includes any suitable controller51, such as a microprocessor, a rheostat, a potentiometer, or any other suitable control mechanism to control movement of the drive mechanism10. As noted above, the controller51is communicably coupled to the drive mechanism10and the vibratory mechanism90(and in one or more aspects coupled to vibratory mechanism90A). The controller51is configured so as to effect movement of the infant support2in the selectably variable motion profiles with selectable vibration modes selected, with the controller51, from different selectably variable motion profiles and selectably different vibration modes for each of the different selectable variable motion profiles. For example, the controller51is communicably coupled to the distributed drive mechanism10D and is configured so as to move, via at least the first electromechanical driver2510and at least the second electromechanical driver2511, the infant support2coupled to the movable infant load seat surface1690relative to the base3. The distributed drive mechanism10D is distributed from the base3and onto the infant support2. The distributed drive mechanism10D has the first electromechanical driver2510coupled to the base3, the first electromechanical driver2510defining the first degree of freedom forming a first axis of (a linear or a rotational) motion between the base3and the infant support2. The distributed drive mechanism10D has the second electromechanical driver2511mounted to the infant support2, and coupled to the base3with coupling of the infant support to the infant load seat surface1690. The second electromechanical driver2511is separate and distinct from the first electromechanical driver2511, and defines the second degree of freedom (independent of the first DOF) forming the second axis of (a linear or a rotational) motion of the infant support2.

The controller51is configured so as to move the infant support2relative to the base3, via the first electromechanical driver2510and the second electromechanical driver2511, coupled to the movable infant load seat surface1690. The controller51is configured so as to move the infant support2with separate impetus separately imparted to the infant support2by a first linear or rotational motion determined by the first axis of motion of the first degree of freedom (e.g., of the first electromechanical driver2510), and by a second linear or rotational motion determined by the second axis of motion, of the second degree of freedom (e.g., of the second electromechanical driver2511), with a selectably variable motion profile (seeFIGS. 17A-17C, 25A, and 26A-26E—noting that any one or more of the motion profiles illustrated inFIGS. 17A-17C and 25Acan be superposed over the motion profiles illustrated inFIGS. 26A-26Eor vice versa and selected from the control panel52,52C so that the combined movement is selected with the common selection input (i.e., a single press/actuation of the corresponding motion switch) selected with the controller from different selectably variable motion profiles.

The control system50may further include a control panel for viewing and controlling speed and motion of the drive mechanism10, one or more control switches or knobs (as described herein) for causing actuation of the drive mechanism10, and a variety of inputs and outputs operatively coupled to the controller51. For example, the controller51of the control system50is configured to determine a position of the infant support2based at least in part on information from one of more sensors (e.g., described herein) of the distributed drive mechanism10D. The control system50may include one or more encoder130(FIGS. 21A, 22A) coupled to an output shaft of a (rotary) motor62,62B of a respective one of the reciprocating motion stage2100A,2100B,2100C. The encoder130may include an infrared (IR) sensor132and a disk133with a single hole or slot positioned thereon (seeFIGS. 21A, 22A, and 24). The encoder130is configured so that the controller51may determine the speed and number of revolutions of the motor62. Where linear actuators66or motors63,64are employed in a reciprocating motion stage2100A′,2100A″,2100B′,2100B″, encoder135(FIGS. 21B, 22B) may be provided and coupled to a shaft136of the linear actuator66. The encoder135,136may include an IR sensor137and a linear scale138positioned thereon. The encoder135is configured so that the controller51may determine the speed and number of reciprocations (or extension/retraction displacement) of the linear actuator66. Position of the vibratory mechanism90may be selected as previously described so as to avoid generating noise to the position signal of the encoders130,135. Where linear motors63,64are employed in a reciprocating motion stage2100A″,2100B″, encoder139(FIGS. 21C, 22C, which may be substantially similar to encoder135) may be provided to detect/sense a position of a slider2115of the linear motor63,64, where the platform70is coupled to the slider2115. The encoder139may be any suitable encoder such as optical, capacitive, and magnetic encoders. For example, encoder139may be provided and coupled to one or more of the track and63T,64T and slider2115of the linear motor63,34. The encoder139may include an IR sensor137and a linear scale138positioned thereon. The encoder139is configured so that the controller51may determine the speed and number of reciprocations (or displacement of the slider along the track) of the linear motor63,64.

In addition, while the encoders130,135,139were described hereinabove, this is not to be construed as limiting to magnetic encoders, as other types of encoders well known in the art may also be used. It may also be desirable to provide an arrangement in which two or more control switches associated with respective motors are required to both be actuated to effect speed control in the desired direction. Furthermore, while it was described that the encoder130only includes a single slot and that the encoder135,139include a linear scale, this is not to be construed as limiting as encoders with a plurality of slots or a variety of scales may be utilized.

In one aspect, the control system50may further include horizontal and vertical limit switches165,167(FIG. 14) to provide inputs to the controller51. For example, the horizontal and vertical limit switches165,167may be configured to indicate to the controller51that the respective platform70(e.g., to which another motion stage2100A,2100A′,2100B,2100B′,2100C, a multi-actuator motion module1600A,1600B,1600C, and/or the infant support2is coupled) has reached an end point of travel. The limit switches165,167are configured so that the control system50may determine an initial position of drive mechanism10and to adjust the drive mechanism10accordingly. In one aspect, the limit switches165,167may be optical switches or any other suitable switches. Position of the vibratory mechanism may be selected as previously described so as to avoid generating noise to the position signal of the limit switches165,167(prevents errors overdriving motors).

Referring also toFIGS. 20A-20D, while the motion tracking of the reciprocating motion stages2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C by the control system50have been described above, the movement actuators of the multi-actuator motion modules1600A,160B,1600B is similarly tracked with encoders130,135,139and/or with limit switches (in a manner similar to that described above) by the control system50to effect the motion profiles described herein. In manner similar to that described above, in one or more aspects, the controller51is configured to determine an amount (e.g., distance) of actuation of the movement actuators to effect the reciprocating linear, reciprocating circular/ovoid segment, and/or circular/ovoid movements described herein.

The control panel52may also have display53to provide information to the user, such as, for example, motion profiles, volume of music being played through speakers56, and speed of the reciprocation motion, etc. In one aspect, the control panel52may be a touch screen control panel, a capacitive control panel52C (seeFIG. 1F), or any suitable user interface configured to receive the common selection input from a user for selecting the different selectably variable motion profiles. Control switches (which may be capacitive switches270-277, areas of a touch screen, toggle switches, buttons, etc.) may include user input switches such as a main power , a start/stop button270, a motion increment button278U, a motion decrement button278D, a speed increment button279U, a speed decrement button279D, and the like.FIGS. 1B, 1C, and 1Fillustrate aspects of the infant care apparatus1including an exemplary capacitive control panel52C that includes a power switch270C, motion switches271-275,290-294(which correspond to the exemplary motion profiles described herein—noting that all motion profile combinations effected by the aspects of the disclosed embodiment are not illustrated by the motion switches such that the motion switches shown are exemplary only and there may be any number of motion switches that correspond with any corresponding number of the motion profile combinations described herein), a sound on/off switch276, and a volume switch277; however, it should be realized that in other aspects the capacitive control panel52C may include any suitable function switches such as those noted above. The control panel52,52C can also include any suitable status lights/indicia285-287that are configured to indicate a status of the child care apparatus1. For example, light285is configured to indicate a power status (i.e., on/off) of the child care apparatus1. The light286is configured to indicate whether the sound is on or off and the light287is configured to indicate a volume level of the sound. The control panel52,52C can also include any other suitable lights indicia as noted herein. The controller51of the control system50may also include a variety of outputs. These outputs include, but are not limited to a Pulse Width Modulation (PWM) motors/actuators of the first and second electromechanical drivers2510,2511, and a display backlight.

In one or more aspects, the control system50is configured with any suitable “smart” connectivity features that provide for remote control of the infant care apparatus with smart home accessories/devices. For example, the control system50includes Wi-Fi connectivity and is configured with, for example, Alexa connectivity (available from Amazon.com, Inc.) and/or Google Assistant™ connectivity (available from Google LLC) so that the functions of the infant care apparatus1described herein are remotely operable through the Wi-Fi connectivity. The control system50includes any suitable short distance wireless communication, such as Bluetooth®, that enables audio streaming from a remote fungible device (e.g., cell phone, tablet, laptop computer, etc.) to the infant care device1for broadcast through the speakers56. It is noted that the control system50is configured for, through the short distance wireless communication, remote control of the infant care apparatus1through the remote fungible device so that the functions of the infant care apparatus1described herein are remotely operable through remote fungible device.

The control system50is also configured with operational interlocks that prevent movement of the infant seat7such as when the cam lever2878is not locked (i.e., rotated fully to a predetermined stopping location in direction R27) and/or when the infant seat7is not seated on the base3. For example, referring toFIGS. 14C, 15A and 15Bat least one sensor (e.g., seat lock sensor(s))2866,2869is provided on the infant support receiver coupling200C (or any suitable location on the base3) to detect/sense a position of the cam lever2878and/or slider2877,2877A. For example, a sensor2866can be positioned on the housing cover280C and/or skirt280S so as to detect a position of the handle2878H relative to the sensor2866. For example, the sensor2866can be a proximity sensor, optical sensor, or other suitable sensor that detects the handle2878H when in the locked position (e.g., rotated fully to a predetermined stopping location in direction R27). A sensor2869(similar to sensor2866) can be located within the infant support receiver coupling200C so as to detect the slider2877(and/or slider2877A) when in the locked position (seeFIG. 15C) or when in the unlocked position (seeFIG. 15B). A sensor2867(similar to sensor2866) can be located on the complimentary mating surface200CS so as to detect the presence of the mating surface2620B (i.e., detect the presence of the infant seat7on the base3). A sensor2868(similar to sensor2866) can be located on the housing cover280C to detect the presence of the side2620A of the base2620. The sensors2866,2867,2868,2869are configured to send signals, embodying information regarding the presence or absence of the infant seat on the base3and/or whether the cam lever2878(or sliders2877,2877A) are in the locked position, to the controller51where the controller51effects operation of the infant care apparatus1based on the sensor signals or prevents operation of the infant case apparatus based on the sensor signals.

The sensors (at least one sensor for detecting the state of the cam lever2878and at least one sensor for detecting the state of the infant seat7on the base3) provide for detection of the following usage states: (1) infant seat7on the base3but unlocked, (2) the infant seat7on the base3and locked, (3) the infant seat7off the base3and unlocked, and (4) the infant seat7off the base and locked. For example, where the controller51determines the sensor signals indicate usage states1,3, and4, the controller51prevents operation of the infant care apparatus1and causes an error or locked indicia/message to be presented on the control panel52(see the illumination of a lock indicia269on the control panel52inFIG. 1F). Where the controller51determines the sensor signals indicate usage state2, the controller provides for operation of the infant care apparatus1. In one or more aspects, where the infant seat7is not detected on the base3but the cam lever2878(and sliders) are detected in the locked position the lock indicia269may not be illuminated.

Referring toFIG. 27, the multi-actuator motion module1600A,1600B,1600C may be integrally formed with support housing4of the base3. Here the support housing4includes an integral hemispherical shape or hemi-spheroid shape1666A (substantially similar to hemispherical shape or hemi-spheroid shape1666described above) to which the actuators1610-1612are coupled (in the manner described above with respect to module base1601). In this aspect, any suitable number of additional multi-actuator motion module(s)1600A,1600B,1600C and/or reciprocating motion stage(s)2100A,2100A′,2100A″,2100B,2100B′,2100B″,2100C may be coupled to the base3so as to form with the integrally formed multi-actuator motion module of the base3the first electromechanical driver2510. The infant support2, with the second electromechanical driver2511is coupled to the base3in the manner described herein so that the controller51controls the first electromechanical driver2510and the second electromechanical driver2511as described herein to effect the motion profiles of the infant care apparatus1described herein. While the actuator configuration of the base3shown inFIG. 27is substantially similar to that illustrated inFIGS. 16A-17C, in other aspects, the base and actuator configuration may be substantially similar to those illustrated inFIGS. 18A-18BorFIGS. 19A-19B.

Referring toFIGS. 1A-1F and 28an exemplary method will be described in accordance with aspects of the disclosed embodiment. A base3is provided (FIG. 28, Block28100), where the base3has a drive mechanism10coupled to the base3. The drive mechanism10has a first electromechanical driver2510defining the first degree of freedom forming the first axis of (a linear or a rotational) motion (as described herein) of the movable infant load seat surface1690dependent from and movable relative to the base3. An infant support2is provided (FIG. 28, Block28110) where the infant support2is configured so as to be removably coupled to the movable infant load seat surface1690. The drive mechanism10is a distributed drive mechanism10D distributed to the base3and the infant support2, wherein the distributed drive mechanism10D includes a second electromechanical driver2511integral with the infant support2. The second electromechanical driver2511is separate and distinct from the first electromechanical driver2510, and defines the second degree of freedom (independent of the first degree of freedom) forming a second axis of (a linear or a rotational) motion of the infant support2. The infant support2(e.g., coupled to the movable infant load seat surface1690) is moved relative to the base (FIG. 28, Block28120), with the controller51communicably coupled to the distributed drive mechanism10D, via the first electromechanical driver and the second electromechanical driver.

Still referring toFIGS. 1A-1F and 28another exemplary method will be described in accordance with aspects of the disclosed embodiment. A base3is provided (FIG. 28, Block28100) having a drive mechanism10, coupled to the base3, that has a first electromechanical driver2510defining the first degree of freedom forming a first axis of (a linear or a rotational) motion (as described herein) of the movable infant load seat surface1690dependent from and movable relative to the base3. An infant support2is provided (FIG. 28, Block28110) where the infant support2is configured so as to be removably coupled to the movable infant load seat surface1690. The drive mechanism10is a distributed drive mechanism10D distributed to the base3and the infant support2, wherein the distributed drive mechanism10D includes a second electromechanical driver2511integral with the infant support2. The second electromechanical driver2511is separate and distinct from the first electromechanical driver2510, and defining a second degree of freedom (independent of the first degree of freedom) forming a second axis of (a linear or a rotational) motion of the infant support2. The infant support2is moved relative to the base (FIG. 28, Block28120), with the controller51communicably coupled to the distributed drive mechanism, via the first electromechanical driver2510and the second electromechanical driver2511, coupled to the movable infant load seat surface1690.

Referring toFIGS. 1A-1F and 29, an exemplary method will be described in accordance with aspects of the disclosed embodiment. A base3is provided (FIG. 29, Block29100). A movable infant load seat surface1690dependent from and movable relative to the base3is provided (FIG. 29, Block29101). An infant support2is provided (FIG. 29, Block29102) and is configured so as to be removably coupled to the infant load seat surface1690. A first and second degree of freedom are defined (FIG. 29, Block29103), with a distributed drive mechanism10D distributed from the base3and onto the infant support2. The first degree of freedom forms a first axis of (a linear or a rotational) motion of the infant support2and the second degree of freedom forms a second axis of (a linear or rotational) motion of the infant support2. The distributed drive mechanism10D has a first electromechanical driver2510coupled to the base3. The first electromechanical driver2510defines the first degree of freedom forming the first axis of motion between the base3and the infant support2. The distributed drive mechanism10D has a second electromechanical driver2511mounted to the infant support2, and coupled to the base3with coupling of the infant support to the infant load seat surface1690. The second electromechanical driver2511being separate and distinct from the first electromechanical driver2510, and defining the second degree of freedom forming the second axis of (a linear or a rotation) motion of the infant support2.

In accordance with one or more aspects of the disclosed embodiment an infant care apparatus comprises: a base; a drive mechanism, coupled to the base, that has a first electromechanical driver defining a first degree of freedom forming a first axis of motion of a movable infant load seat surface dependent from and movable relative to the base; an infant support configured so as to be removably coupled to the infant load seat surface; wherein the drive mechanism is a distributed drive mechanism distributed to the base and the infant support, wherein the distributed drive mechanism includes a second electromechanical driver integral with the infant support, the second electromechanical driver being separate and distinct from the first electromechanical driver, and defining a second degree of freedom forming a second axis of motion of the infant support; and a controller communicably coupled to the distributed drive mechanism and configured so as to move, via the first electromechanical driver and the second electromechanical driver, the infant support coupled to the movable infant load seat surface relative to the base.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured so as to move the infant support with separate impetus separately imparted to the infant support by a first motion determined by the first axis of motion, of the first degree of freedom, and by a second motion determined by the second axis of motion, of the second degree of freedom, with a selectably variable motion profile selected with the controller from different selectably variable motion profiles.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured to effect selection of the selectably variable motion profile by separate variance of motion characteristics of the separate respective first electromechanical driver and the second electromechanical driver of the distributed drive mechanism, with the infant support coupled to the movable infant load seat surface, from a common selection input to the controller selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, the controller includes a user interface configured to receive a common selection input from a user for selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, each of the different selectably variable motion profiles includes at least one of horizontal movements, vertical movements, and rotational movements.

In accordance with one or more aspects of the disclosed embodiment, one or more of the first electromechanical driver and the second electromechanical driver is at least one of a rotatory motor, a linear motor, and a linear actuator.

In accordance with one or more aspects of the disclosed embodiment, the movable infant load seat surface is a curved surface with an apex mated against a substantially planar mating base surface of the base, the movable infant load seat surface being disposed so that the apex moves relative to the base under impetus imparted to the movable infant load seat surface by a first motion determined by the first axis of motion.

In accordance with one or more aspects of the disclosed embodiment, the first electromechanical driver includes more than one separate and distinct electromechanical driver, each of the more than one separate and distinct electromechanical driver being separate and distinct from each other, and defines an independent degree of freedom forming an independent axis of motion, so that the first electromechanical driver defines two or more independent degrees of freedom.

In accordance with one or more aspects of the disclosed embodiment, the controller is mounted within the base.

In accordance with one or more aspects of the disclosed embodiment, the controller determines position of the infant support based at least in part on information from one or more sensors distributed drive mechanism.

In accordance with one or more aspects of the disclosed embodiment, an infant care apparatus comprises: a base; a drive mechanism, coupled to the base, that has a first electromechanical driver defining a first degree of freedom forming a first axis of motion of a movable infant load seat surface dependent from and movable relative to the base; an infant support configured so as to be removably coupled to the movable infant load seat surface; wherein the drive mechanism is a distributed drive mechanism distributed to the base and the infant support, wherein the distributed drive mechanism includes a second electromechanical driver integral with the infant support, the second electromechanical driver being separate and distinct from the first electromechanical driver, and defining a second degree of freedom forming a second axis of motion of the infant support; and a controller communicably coupled to the distributed drive mechanism and configured so as to move the infant support relative to the base, via the first electromechanical driver and the second electromechanical driver, coupled to the movable infant load seat surface.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured so as to move the infant support with separate impetus separately imparted to the infant support by a first motion determined by the first axis of motion, of the first degree of freedom, and by a second motion determined by the second axis of motion, of the second degree of freedom, with a selectably variable motion profile selected with the controller from different selectably variable motion profiles.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured to effect selection of the selectably variable motion profile by separate variance of motion characteristics of the separate respective first electromechanical driver and the second electromechanical driver of the distributed drive mechanism, with the infant support coupled to the movable infant load seat surface, from a common selection input to the controller selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, the controller includes a user interface configured to receive a common selection input from a user for selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, each of the different selectably variable motion profiles includes at least one of horizontal movements, vertical movements, and rotational movements.

In accordance with one or more aspects of the disclosed embodiment, one or more of the first electromechanical driver and the second electromechanical driver is at least one of a rotatory motor, a linear motor, and a linear actuator.

In accordance with one or more aspects of the disclosed embodiment, the movable infant load seat surface is a curved surface with an apex mated against a substantially planar mating base surface of the base, the movable infant load seat surface being disposed so that the apex moves relative to the base under impetus imparted to the movable infant load seat surface by a first motion determined by the first axis of motion.

In accordance with one or more aspects of the disclosed embodiment, the first electromechanical driver includes more than one separate and distinct electromechanical driver, each of the more than one separate and distinct electromechanical driver being separate and distinct from each other, and defines an independent degree of freedom forming an independent axis of motion, so that the first electromechanical driver defines two or more independent degrees of freedom.

In accordance with one or more aspects of the disclosed embodiment, the controller is mounted within the base.

In accordance with one or more aspects of the disclosed embodiment, the controller determines position of the infant support based at least in part on information from one or more sensors distributed drive mechanism.

In accordance with one or more aspects of the disclosed embodiment, an infant care apparatus comprises: a base; a movable infant load seat surface dependent from and movable relative to the base; an infant support configured so as to be removably coupled to the infant load seat surface; and a distributed drive mechanism distributed from the base and onto the infant support, the distributed drive mechanism has a first electromechanical driver coupled to the base, the first electromechanical driver defining a first degree of freedom forming a first axis of motion between the base and the infant support, and the distributed drive mechanism has a second electromechanical driver mounted to the infant support, and coupled to the base with coupling of the infant support to the infant load seat surface, the second electromechanical driver being separate and distinct from the first electromechanical driver, and defining a second degree of freedom forming a second axis of motion of the infant support.

In accordance with one or more aspects of the disclosed embodiment, the infant care apparatus further comprises a controller communicably coupled to the distributed drive mechanism and configured so as to move, via the first electromechanical driver and the second electromechanical driver, the infant support coupled to the infant load seat surface relative to the base.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured so as to move the infant support with separate impetus separately imparted to the infant support by a first motion determined by the first axis of motion, of the first degree of freedom, and by a second motion determined by the second axis of motion, of the second degree of freedom, with a selectably variable motion profile selected with the controller from different selectably variable motion profiles.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured to effect selection of the selectably variable motion profile by separate variance of motion characteristics of the separate respective first electromechanical driver and the second electromechanical driver of the distributed drive mechanism, with the infant support coupled to the movable infant load seat surface, from a common selection input to the controller selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, the controller includes a user interface configured to receive a common selection input from a user for selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, each of the different selectably variable motion profiles includes at least one of horizontal movements, vertical movements, and rotational movements.

In accordance with one or more aspects of the disclosed embodiment, the controller is mounted within the base.

In accordance with one or more aspects of the disclosed embodiment, the controller determines position of the infant support based at least in part on information from one or more sensors distributed drive mechanism.

In accordance with one or more aspects of the disclosed embodiment, one or more of the first electromechanical driver and the second electromechanical driver is at least one of a rotatory motor, a linear motor, and a linear actuator.

In accordance with one or more aspects of the disclosed embodiment, the movable infant load seat surface is a curved surface with an apex mated against a substantially planar mating base surface of the base, the movable infant load seat surface being disposed so that the apex moves relative to the base under impetus imparted to the movable infant load seat surface by a first motion determined by the first axis of motion.

In accordance with one or more aspects of the disclosed embodiment, the first electromechanical driver includes more than one separate and distinct electromechanical driver, each of the more than one separate and distinct electromechanical driver being separate and distinct from each other, and defines an independent degree of freedom forming an independent axis of motion, so that the first electromechanical driver defines two or more independent degrees of freedom.

In accordance with one or more aspects of the disclosed embodiment, a method for an infant care apparatus is provided. The method comprises: providing a base having a drive mechanism, coupled to the base, the drive mechanism has a first electromechanical driver defining a first degree of freedom forming a first axis of motion of a movable infant load seat surface dependent from and movable relative to the base; providing an infant support configured so as to be removably coupled to the movable infant load seat surface, wherein the drive mechanism is a distributed drive mechanism distributed to the base and the infant support, wherein the distributed drive mechanism includes a second electromechanical driver integral with the infant support, the second electromechanical driver being separate and distinct from the first electromechanical driver, and defining a second degree of freedom forming a second axis of motion of the infant support; and moving, with a controller communicably coupled to the distributed drive mechanism, via the first electromechanical driver and the second electromechanical driver, the infant support coupled to the movable infant load seat surface relative to the base.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured so as to move the infant support with separate impetus separately imparted to the infant support by a first motion determined by the first axis of motion, of the first degree of freedom, and by a second motion determined by the second axis of motion, of the second degree of freedom, with a selectably variable motion profile selected with the controller from different selectably variable motion profiles.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured to effect selection of the selectably variable motion profile by separate variance of motion characteristics of the separate respective first electromechanical driver and the second electromechanical driver of the distributed drive mechanism, with the infant support coupled to the movable infant load seat surface, from a common selection input to the controller selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, the method further comprises receiving with a user interface, of the controller, a common selection input from a user for selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, each of the different selectably variable motion profiles includes at least one of horizontal movements, vertical movements, and rotational movements.

In accordance with one or more aspects of the disclosed embodiment, one or more of the first electromechanical driver and the second electromechanical driver is at least one of a rotatory motor, a linear motor, and a linear actuator.

In accordance with one or more aspects of the disclosed embodiment, the movable infant load seat surface is a curved surface with an apex mated against a substantially planar mating base surface of the base, the movable infant load seat surface being disposed so that the apex moves relative to the base under impetus imparted to the movable infant load seat surface by a first motion determined by the first axis of motion.

In accordance with one or more aspects of the disclosed embodiment, the first electromechanical driver includes more than one separate and distinct electromechanical driver, each of the more than one separate and distinct electromechanical driver being separate and distinct from each other, and defines an independent degree of freedom forming an independent axis of motion, so that the first electromechanical driver defines two or more independent degrees of freedom.

In accordance with one or more aspects of the disclosed embodiment, the controller is mounted within the base.

In accordance with one or more aspects of the disclosed embodiment, the method further comprises, determining, with the controller, a position of the infant support based at least in part on information from one or more sensors of the distributed drive mechanism.

In accordance with one or more aspects of the disclosed embodiment, a method for an infant care apparatus is provided. The method includes: providing a base having a drive mechanism, coupled to the base, that has a first electromechanical driver defining a first degree of freedom forming a first axis of motion of a movable infant load seat surface dependent from and movable relative to the base; providing an infant support configured so as to be removably coupled to the movable infant load seat surface, wherein the drive mechanism is a distributed drive mechanism distributed to the base and the infant support, wherein the distributed drive mechanism includes a second electromechanical driver integral with the infant support, the second electromechanical driver being separate and distinct from the first electromechanical driver, and defining a second degree of freedom forming a second axis of motion of the infant support; and moving the infant support, with a controller communicably coupled to the distributed drive mechanism, relative to the base, via the first electromechanical driver and the second electromechanical driver, coupled to the movable infant load seat surface.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured so as to move the infant support with separate impetus separately imparted to the infant support by a first motion determined by the first axis of motion, of the first degree of freedom, and by a second motion determined by the second axis of motion, of the second degree of freedom, with a selectably variable motion profile selected with the controller from different selectably variable motion profiles.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured to effect selection of the selectably variable motion profile by separate variance of motion characteristics of the separate respective first electromechanical driver and the second electromechanical driver of the distributed drive mechanism, with the infant support coupled to the movable infant load seat surface, from a common selection input to the controller selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, the controller includes a user interface configured to receive a common selection input from a user for selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, each of the different selectably variable motion profiles includes at least one of horizontal movements, vertical movements, and rotational movements.

In accordance with one or more aspects of the disclosed embodiment, one or more of the first electromechanical driver and the second electromechanical driver is at least one of a rotatory motor, a linear motor, and a linear actuator.

In accordance with one or more aspects of the disclosed embodiment, the movable infant load seat surface is a curved surface with an apex mated against a substantially planar mating base surface of the base, the movable infant load seat surface being disposed so that the apex moves relative to the base under impetus imparted to the movable infant load seat surface by a first motion determined by the first axis of motion.

In accordance with one or more aspects of the disclosed embodiment, the first electromechanical driver includes more than one separate and distinct electromechanical driver, each of the more than one separate and distinct electromechanical driver being separate and distinct from each other, and defines an independent degree of freedom forming an independent axis of motion, so that the first electromechanical driver defines two or more independent degrees of freedom.

In accordance with one or more aspects of the disclosed embodiment, the controller is mounted within the base.

In accordance with one or more aspects of the disclosed embodiment, the controller determines position of the infant support based at least in part on information from one or more sensors distributed drive mechanism.

In accordance with one or more aspects of the disclosed embodiment, a method for an infant care apparatus is provided. The method includes: providing a base; providing a movable infant load seat surface dependent from and movable relative to the base; providing an infant support configured so as to be removably coupled to the infant load seat surface; and defining, with a distributed drive mechanism distributed from the base and onto the infant support, a first degree of freedom forming a first axis of motion of the infant support and a second degree of freedom forming a second axis of motion of the infant support, wherein the distributed drive mechanism has a first electromechanical driver coupled to the base, the first electromechanical driver defining the first degree of freedom forming the first axis of motion between the base and the infant support, and the distributed drive mechanism has a second electromechanical driver mounted to the infant support, and coupled to the base with coupling of the infant support to the infant load seat surface, the second electromechanical driver being separate and distinct from the first electromechanical driver, and defining the second degree of freedom forming the second axis of motion of the infant support.

In accordance with one or more aspects of the disclosed embodiment, the method further comprises moving, with a controller communicably coupled to the distributed drive mechanism, via the first electromechanical driver and the second electromechanical driver, the infant support coupled to the infant load seat surface relative to the base.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured so as to move the infant support with separate impetus separately imparted to the infant support by a first motion determined by the first axis of motion, of the first degree of freedom, and by a second motion determined by the second axis of motion, of the second degree of freedom, with a selectably variable motion profile selected with the controller from different selectably variable motion profiles.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured to effect selection of the selectably variable motion profile by separate variance of motion characteristics of the separate respective first electromechanical driver and the second electromechanical driver of the distributed drive mechanism, with the infant support coupled to the movable infant load seat surface, from a common selection input to the controller selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, the controller includes a user interface configured to receive a common selection input from a user for selecting the selectably variable motion profile.

In accordance with one or more aspects of the disclosed embodiment, each of the different selectably variable motion profiles includes at least one of horizontal movements, vertical movements, and rotational movements.

In accordance with one or more aspects of the disclosed embodiment, the controller is mounted within the base.

In accordance with one or more aspects of the disclosed embodiment, the controller determines position of the infant support based at least in part on information from one or more sensors distributed drive mechanism.

In accordance with one or more aspects of the disclosed embodiment, one or more of the first electromechanical driver and the second electromechanical driver is at least one of a rotatory motor, a linear motor, and a linear actuator.

In accordance with one or more aspects of the disclosed embodiment, the movable infant load seat surface is a curved surface with an apex mated against a substantially planar mating base surface of the base, the movable infant load seat surface being disposed so that the apex moves relative to the base under impetus imparted to the movable infant load seat surface by a first motion determined by the first axis of motion.

In accordance with one or more aspects of the disclosed embodiment, the first electromechanical driver includes more than one separate and distinct electromechanical driver, each of the more than one separate and distinct electromechanical driver being separate and distinct from each other, and defines an independent degree of freedom forming an independent axis of motion, so that the first electromechanical driver defines two or more independent degrees of freedom.

It should be understood that the foregoing description is only illustrative of the aspects of the disclosed embodiment. Various alternatives and modifications can be devised by those skilled in the art without departing from the aspects of the disclosed embodiment. Accordingly, the aspects of the disclosed embodiment are intended to embrace all such alternatives, modifications and variances that fall within the scope of any claims appended hereto. Further, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be advantageously used, such a combination remaining within the scope of the aspects of the disclosed embodiment.