Infant care apparatus

Abstract

An infant care device includes an infant support, a drive section, a biometric sensor, and a controller. The drive section is coupled to the infant support and has a motor configured to generate one or more of an action and a motion of the infant support. The biometric sensor is configured to observe at least one characteristic of an infant within the infant support. The controller is configured to use a neural network or a state machine communicatively coupled to the biometric sensor and the drive section, wherein the controller records sensor data from the biometric sensor and effects a change in the one or more of the action and the motion of the infant support by the neural network or the state machine.

Description

[0001] Cross-reference to related applications

[0002] This application is a non-provisional application filed on September 19, 2019, with U.S. Provisional Patent Application Serial No. 62 / 902,770, and claims priority thereto, the disclosure of which is incorporated herein by reference in its entirety.

[0003] background

[0004] 1. Field

[0005] The disclosed embodiments generally relate to infant care devices, and more specifically to infant care devices having an occupant area movable by a drive mechanism.

[0006] 2. Description of related technologies

[0007] For years, baby swings, bouncy seats, cradles, and strollers have been used to support, soothe, and play with infants and toddlers. Existing bouncy seats are typically constructed with a wire frame containing deformation resistance less than or equal to the weight of the child in the seat. Therefore, when a child is placed in the seat, his or her weight causes a slight and temporary deformation of the wire structure, which is resisted by the deformation resistance of the wire frame. The end result is a slight up-and-down movement of the child relative to the floor. This movement can be applied to the seat by a caregiver to play with or soothe the child.

[0008] Baby swings generally function similarly to swings for older children; however, baby swings typically have an automatic power-assisted mechanism that propels the swing to continue its swinging motion, just as parents would push an older child on the swing to keep them swinging at a certain height off the ground.

[0009] Some recently marketed products do not easily fall into the categories of flex or oscillation. One such product includes a motorized movement capable of laterally moving the infant, but it has only a single degree of freedom of movement and is therefore limited to the possible motion profiles. While the seat can rotate to allow the infant to move back and forth in different orientations, only one possible motion profile exists.

[0010] As a young child or infant occupies a baby swing, a bouncy seat, a bassinet, and a stroller, the young child or infant's mood can change (e.g., from a calm mood to a crying mood, etc.). In other aspects, the young child or infant's state can change (e.g., from asleep to awake or vice versa, etc.). Generally, the young child or infant's mood or state changes are directly monitored by a caregiver or through a baby monitoring device, which typically includes a camera and a microphone that simply sends the young child or infant's video and audio to a remotely located monitoring device accessible to the caregiver. As the young child's mood or state changes, the caregiver must physically approach the young child or infant in order to soothe the young child or infant.

[0011] There is a need for a motorized baby support that can move simultaneously or independently in at least two directions and that can reproduce a large number of motion profiles using the two directions. There is also a need for a reactive baby support that can adjust the motion / movement characteristics of the baby support based on the mood or state of the young child or infant. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a perspective view of a baby care device according to aspects of the disclosed embodiments;

[0013] Figure 1A is a perspective view of a baby care device according to aspects of the disclosed embodiments; Figure 1 is a side view of a portion of the baby care device of

[0014] Figure 2 is a perspective view of a baby care device according to aspects of the disclosed embodiments;

[0015] Figure 2A is a side view of the baby care device of Figure 2

[0016] Figure 3A is an exemplary control loop of the baby care device of Figure 1 and Figure 2

[0017] Figure 3B is a schematic block diagram of a portion of the baby care device of Figure 1 and Figure 2

[0018] Figure 3C is a schematic diagram of an exemplary state machine according to aspects of the disclosed embodiments;

[0019] Figure 3D is a schematic diagram of an exemplary neural network according to aspects of the disclosed embodiments;

[0020] ​​​Figure 4 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0021] Figure 5 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0022] Figures 6A-6F is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a cross-sectional view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0023] Figure 7 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0024] Figure 8A and Figure 8B is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0025] Figure 9A is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a side view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0026] Figure 9B is a front perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a front perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0027] Figure 9C is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0028] Figure 10A is a bottom perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a bottom perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0029] Figure 10B is a side view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a side view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0030] Figure 10C is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a bottom perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0031] Figure 11 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 1 and / or Figure 2 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0032] Figure 12 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 12 is a perspective view of the portion of an infant care apparatus according to aspects of the disclosed embodiments

[0033] Figure 13 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 12 is a cross-sectional view of the portion of an infant care apparatus according to aspects of the disclosed embodiments

[0034] Figure 13A is a front view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 12

[0035] is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 14 and / or Figure 1 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 2

[0036] is a perspective view of a portion of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 15 Figure 14 is a perspective view of the portion of an infant care apparatus according to aspects of the disclosed embodiments

[0037] Figure 16 Figure 15 is a perspective view of the portion of an infant care apparatus according to aspects of the disclosed embodiments

[0038] Figure 17 is a top view of the portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 15

[0039] is a front view of the portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 18 Figure 15 is a side view of the portion of an infant care apparatus according to aspects of the disclosed embodiments

[0040] Figure 19 Figure 15 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments

[0041] Figure 20 is a perspective view of a portion of an infant care apparatus according to aspects of the disclosed embodiments Figure 14 ​​​​partial perspective view of the portion of the infant care apparatus of

[0042] Figure 21 are in accordance with aspects of the disclosed embodiments Figure 14 partial perspective view of the portion of the infant care apparatus of

[0043] Figure 22 are in accordance with aspects of the disclosed embodiments Figure 14 partial perspective view of the portion of the infant care apparatus of

[0044] Figures 23A-23E are in accordance with aspects of the disclosed embodiments

[0045] Figure 24 are in accordance with aspects of the disclosed embodiments Figure 1 and / or Figure 2 block diagram of an exemplary control system of the infant care apparatus of

[0046] Figure 25 are in accordance with aspects of the disclosed embodiments Figure 1 and / or Figure 2 a method of imparting motion on the infant care apparatus of

[0047] Figure 26 are in accordance with aspects of the disclosed embodiments Figure 1 and / or Figure 2 a method of varying one or more of the actions and motions of the infant care apparatus of DETAILED DESCRIPTION

[0048] 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 embodiments as they are oriented in the drawing figures. However, it is to be understood that the aspects of the disclosed embodiments can assume alternative variations and sequence of steps described herein unless explicitly stated 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 aspects of the aspects of the disclosed embodiments. Hence, specific dimensions and other physical characteristics related to the aspects of the disclosed embodiments are not to be considered as limiting.

[0049] Reference is made to Figure 1 , Figure 1A , Figure 2 and Figure 2AThe accompanying drawings illustrate an infant care device 1 according to various aspects of the disclosed embodiments. Although various aspects of the disclosed embodiments will be described with reference to the accompanying drawings, it should be understood that various aspects of the disclosed embodiments can be implemented in a variety of forms. Furthermore, any suitable size, shape, or type of element or material can be used.

[0050] According to various aspects of the disclosed embodiments, the infant care device 1 generally includes a base 3, an infant support 2, and an infant support connector 200 arranged to releasably connect the infant support 2 to the base 3. The infant support 2 includes a mating support member 8 configured to engage the infant support connector 200, as will be described in more detail below.

[0051] On one hand, the baby support 2 can be a crib 6, such as a stroller or cradle (e.g. Figure 1 (As shown). In other respects, the infant support 2 can be any suitable support, such as a car seat (see...). Figure 2 The crib 6 includes a bottom panel 20 and continuous sidewalls 21 having a top edge 22. In one aspect, the crib 6 may include mating support members 8 attached to the bottom surface of the bottom panel 20; in other aspects, the bottom panel may be attached substantially directly (as described herein) or in any other suitable manner to the base. The continuous sidewalls 21 extend around the perimeter of the bottom panel 20 and are attached to the bottom panel 20 to define an enclosed space 23 for placing an infant or toddler. The sidewalls 21 may be constructed of any suitable material such as solid fabric / cloth, mesh fabric, etc. Although the crib 6 is shown as having an oval shape, it may also be any other suitable shape, such as square, rectangular, circular, etc.

[0052] On the other hand, such as Figure 2 and Figure 2A As shown, the infant support 2 can be the infant seat 7 mentioned above. Suitable examples of infant seats can be found in U.S. Patent No. 10,231,555, issued March 19, 2019, the disclosure of which is incorporated herein by reference in its entirety. Although the infant seat 7 is shown as having an oval shape, it can also be any other suitable shape, such as a square, rectangle, circle, etc.

[0053] In some aspects, both the crib 6 and the infant seat 7 include a cooperating support member 8 configured to support at least the weight of an infant or toddler. In some aspects, the crib 6 and the infant seat 7 include any suitable movable element 19 (shown as being attached to the infant seat 7 but may be attached to the crib 6 in a substantially similar manner), which may be fixedly or releasably attached in any suitable manner to the top edge 22 of the crib 6, the upper end of the infant seat 7, or any other suitable location of the crib 6 and / or the infant seat 7.

[0054] Referring to Figure 1 , Figure 1A , Figure 2 and Figure 2A , the base 3 of the infant care appliance 1 includes a bottom support housing 4, a top enclosure 5 positioned on and at least partially covering the bottom support housing 4, a housing 280 including a cover 280C and a skirt 280S, and a housing base 281. In one aspect, the housing 280 is configured to house the infant support coupling 200. The infant support coupling 200 is disposed within the housing such that the housing cover 280C at least partially encloses the infant support coupling 200 and the skirt 280S extends from the housing cover 280C so as to surround or enclose at least a portion of a movable stage 10 extending through a surface 5A of the top enclosure 5. The housing base 281 is configured to couple the infant support coupling 200 to the movable stage 10 Figure 14 , as will be further described herein. The top enclosure 5 includes a surface 5A that at least partially covers an opening through which the movable stage 10 is supported on the bottom support housing 4, as will be further described herein. The surface 5A can be a hinged surface configured such that an opening formed therein moves with the movable stage 10.

[0055] In one aspect, the base 3 can have fixed or removable legs 9. In one aspect, the legs 9 can be adjustable so as to raise or lower the infant care appliance 1, for example, relative to the height of a floor surface or table on which the infant care appliance 1 is placed. The legs 9 include feet 9A that are contoured or otherwise shaped and sized such that the legs 9 easily slide over a floor surface. For example, the feet 9A can have curved edges so as to substantially avoid the feet 9A catching on a floor surface when the infant care appliance 1 is slid over the floor surface under the influence of an external motor. In one aspect, the base 3 can further include a storage basket 18 provided for storing infant or toddler equipment, accessories, and the like. The storage basket 18 can be mounted to the legs 9 or any other suitable portion of the infant care appliance 1. In one aspect, the base 3 can include a portable music station 55 having a speaker 56 and an input jack 57 for playing music or other pre-recorded sounds.

[0056] Referring now to Figure 1A , Figure 2 , Figure 4 , Figure 5 , Figures 6A-6F and Figure 7 , the mating support member 8 of the infant support 2 is configured to be releasably coupled to the base 3. The coupling of the infant support 2 is described herein with respect to the bassinet 6, however, it should be understood that in some aspects, the infant seat 7 can be coupled to the base 3 by using Figure 2 andFigure 2A The mating support member 8 is coupled to the base 3 in a substantially similar manner. As noted above, the infant care apparatus 1 includes an infant support coupling 200 arranged to releasably couple the mating support member 8 of the infant support 2 to the base 3. The infant support coupling 200 includes a movable support 210 and automatically actuatable gripping members 220, 225, such as can be automatically actuated upon placement of the bassinet 6 onto the infant support coupling 200. In other aspects, the infant support coupling 200 can have any suitable configuration, such as described in U.S. Patent Application No. 17 / 025,674, filed September 18, 2020, having attorney docket number 1252P015822-US (PAR) and entitled “Infant Care Apparatus,” the entire contents of which are incorporated herein by reference.

[0057] With particular reference to Figure 4 and Figure 5 , the movable support 210 is movably connected to the base 3 in any suitable manner for movement in the direction D2. The movable support 210 is arranged to form a support seat 211 that engages and supports the mating support member 8 of the infant support 2. The movable support 210 includes a rib 214 coupled to the base 3. The rib 214 includes a slotted aperture 215 through which a pin 299 is inserted to constrain movement of the movable support 210 in the direction D2. The slotted aperture 215 has an elongated shape so that the movable support 210 can be moved in the direction D2 between a first, raised position 1150 ( Figure 6F ) and a second, lowered position 1160 ( Figure 6B ), as described in more detail below. The movable support 210 further includes a cam mechanism 212 having a cam surface 213 (seen at least in Figure 6A ), which is configured to interface with the automatically actuatable gripping members 220, 225 to automatically actuate the automatically actuatable gripping members 220, 225 between a clamped or closed position 240 ( Figure 6A ) and an unclamped or open position 230 ( Figure 6F ).

[0058] With reference to Figure 1A , Figure 2 , Figure 4 , Figure 5 , Figures 6A-6F , Figure 7 , Figures 8A-8B and Figures 9A-9C ​The automatically actuated gripping members 220 and 225 each include a base 231 and 235 with orifices 232 and 236 (corresponding pins 299 extending through orifices 232 and 236) and cam follower surfaces 222 and 227. Gripping arms 233 and 237 extend from the bases 231 and 235 and include gripping surfaces 234 and 238. The automatically actuated gripping members 220 and 225 are coupled to the corresponding pins 299 so that they can rotate relative to both the movable support 210 and the base 3 between an open position 230 and a closed position 240 (as...). Figures 6A-6F (As best shown). On one hand, the automatically actuating gripping members 220, 225 are connected to their respective pins 299 for free rotation relative to the pins 299; on the other hand, the automatically actuating gripping members 220, 225 and their respective pins 299 can rotate as a unit relative to the slotted hole 215 and the movable support member 210. The automatically actuating gripping members 220, 225 are configured relative to the baby support 2 to grip the baby support 2 using the gripping surfaces 234, 238 when the baby support 2 is positioned on the support base 211. Figure 9B The automatically actuated gripping members 220 and 225, which are actuated between the open position 230 and the closed position 240, grasp and release the cooperating support member 8 of the baby support 2. Through the movement of the movable support member 210, the automatically actuated gripping members 220 and 225 are automatically actuated between the open and closed positions 230 and 240.

[0059] For example, also refer to Figures 10A-10C The infant care device 1 may further include at least one toggle mechanism 250. In one aspect, the at least one toggle mechanism 250 may form an indicator to indicate the position of the movable support 210. For example, the at least one toggle mechanism 250 may emit an audible or tactile signal to indicate the position. In another aspect, the movable support 210 may be supported on the at least one toggle mechanism 250, which is configured to toggle the movable support 210 between a first raised position 1150 and a second lowered position 1160. The at least one toggle mechanism 250 utilizes a helical cam 251 and a spring 252 to toggle between the first raised position 1150 and the second lowered position 1160. For example, when the movable support 210 is lowered in direction D4 (… Figures 6A-6F and Figure 10BWhen the movable support 210 is moved in direction D5 (such as when the infant support 2 is being coupled to the base 3), the at least one toggle mechanism 250 is compressed and the bevel cam 251 is rotated in direction R1. In this position, the spring 252 in the at least one toggle mechanism 250 is loaded by the bevel cam 251 into a compressed and locked position. In this position, both the at least one toggle mechanism 250 and the movable support 210 supported thereon are in a lowered state. When the movable support 210 is moved again in direction D5 (such as when the infant support 2 is being coupled to the base 3), the at least one toggle mechanism 250 is compressed, which causes the bevel cam 251 to rotate in direction R1, thereby unlocking the at least one toggle mechanism 250 and allowing the spring 252 of the at least one toggle mechanism 250 to move the movable support 210 in direction D5 (such as when the infant support 2 is being coupled to the base 3), Figures 6A-6F and Figure 10B When the movable support 210 is moved again in direction D5 (such as when the infant support 2 is being coupled to the base 3), the at least one toggle mechanism 250 is compressed, which causes the bevel cam 251 to rotate in direction R1, thereby unlocking the at least one toggle mechanism 250 and allowing the spring 252 of the at least one toggle mechanism 250 to move the movable support 210 in direction D5 (such as when the infant support 2 is being coupled to the base 3), Figures 6A-6F and Figure 10B ).

[0060] With the at least one toggle mechanism 250 (and thus the movable support 210) in the raised position 1150, the automatically actuatable gripping members 220, 225 are in and remain in the open position 230 by the interaction between the cam mechanism 212 and the cam follower surfaces 222, 227 of the automatically actuatable gripping members 220, 225. With the automatically actuatable gripping members 220, 225 in the open position 230, the mating support member 8 of the infant support 2 is free to be removed or placed into the support seat 211 of the movable support 210 in order to install the infant support 2 to the base 3. To bias the automatically actuatable gripping members 220, 225 in the open position 230, the cam follower surfaces 222, 227 of the automatically actuatable gripping members 220, 225 are configured to interface with the cam surfaces 213 of the cam mechanism 212. For example, with the infant support 2 not present on the support seat 211, the movable support 210 is in the first raised position 1150 such that the cam surfaces 213 of the cam mechanism 212 engage the cam follower surfaces 222, 227 of the gripping members 220, 225 and bias the cam follower surfaces 222, 227 of the automatically actuatable gripping members 220, 225 in the directions T5 and T6, respectively, to the open position 230 against the biasing force of the torsion springs 260. As the mating support member 8 of the infant support 2 is placed by a user on the movable support 210 and the movable support 210 is moved in the direction D4 into the second lowered position 1160, the cam surfaces 213 of the cam mechanism 212 disengage from the cam follower surfaces 222, 227 (i.e., lower such that the cam follower surfaces 222, 227 of the automatically actuatable gripping members 220, 225 follow or slide along the cam surfaces 213 of the cam mechanism 212 in the respective directions D6 and D7). The torsion springs 260 of the respective automatically actuatable gripping members 220, 225 effect rotation of the respective automatically actuatable gripping members 220, 225 in the respective directions T1 and T2. The respective torsion springs 260 bias the automatically actuatable gripping members 220 in the direction T1 and the automatically actuatable gripping members 225 in the direction T2 about the respective pivot axes 221, 226 to place the automatically actuatable gripping members 220, 225 in the closed position 240.

[0061] With reference to Figure 4 , Figure 5 and Figures 8A-8B , in one aspect, the infant support coupling 200 includes a first tilt lock 31 and a second tilt lock 33 each including a locking pad 35 configured to engage the mating support member 8 to lock the position of the mating support member 8 relative to the base 3 and set the angle Θ (Θ = 0°) of the mating support member 8 relative to the base 3. Figure 1A and Figure 2 As can be appreciated, the angle Θ is between 0° and 90°.Figure 1A The angle A is shown as substantially zero, but it can be increased or decreased so that the bassinet 6 is substantially horizontal (e.g., the baby support surface of the bassinet 6 is substantially in a plane parallel to a horizontal plane) to compensate for any tilt of the surface on which the infant care device 1 is placed. The first tilt lock 31 and the second tilt lock 33 are substantially similar to the locking mechanisms described in U.S. Patent No. 10,231,555 previously incorporated by reference herein. The locking pad 35 can be made of rubber or any other suitable material. The first tilt lock 31 and the second tilt lock 33 are configured to cause the locking pad 35 to removably engage the mating support member 8 positioned within the support seat 21 1 by movement of a Z-link (not shown). Movement of the Z-link causes movement of both the first tilt lock 31 and the second tilt lock 33 in the direction D12 to thereby lock and release the mating support member 8 relative to the base 3. For example, to lock the mating support member 8 relative to the base 3, the Z-link drives the first tilt lock 31 in the direction D9 and the second tilt lock 33 in the direction D8 so that the first tilt lock 31 and the second tilt lock 33 are moved toward the centerline CL of the baby support coupling 200. The mating support member 8 is released when the Z-link is actuated to drive the first tilt lock 31 in the direction D8 and the second tilt lock 33 in the direction D9 so that they are moved away from the centerline CL of the baby support coupling 200. The first tilt lock 31 and the second tilt lock 33 can include a lock member 36 to lock the auto-actuatable gripping members 220, 225 in place. The lock member 36 is configured to move with the first tilt lock 31 and the second tilt lock 33 in the direction D3. For example, when the second tilt lock 33 is moved in the direction D8 to lock the mating support member 8 relative to the base 3, the lock member 36 is also moved in the direction D8 and positioned under the auto-actuatable gripping member 225. The auto-actuatable gripping member 225 includes a lock surface 36A (shown in FIG. 22) that interfaces with the lock member 36 and "locks" the auto-actuatable gripping member 225 (i.e., prevents rotation of the auto-actuatable gripping member 225). The lock member 36 is coupled to the movement link of the tilt lock 31, 33 so that it moves between the locked and unlocked positions in coordination with the engagement and disengagement of the tilt lock 31, 33. Figure 8B

[0062] Reference is now made to Figures 11-13 ​According to another aspect of the disclosed embodiments, an infant support coupling 200' is shown. Except where noted below, the infant support coupling 200' is substantially similar to the infant support coupling 200. In this aspect, the infant support coupling 200' includes automatically actuatable gripping members 220', 225', and the housing cover 280C of the housing 280 serves as the movable support 210 as described above. Here, the housing cover 280C is movably coupled to the base 3 in any suitable manner, such as by the housing base 281, such that the housing cover 280C moves in the direction D2 relative to the housing base 281 that is fixedly mounted to the base 3. Note that the skirt 280S is coupled to the housing base 281 independently of the housing cover 280C, such that the housing cover 280C moves in the direction D2 relative to the skirt 280S. The skirt 280S extends from the housing base 281 (or relative to the infant support coupling 200') so as to encircle or surround at least a portion of the movable step 10 that extends through the surface 5A. The housing cover 280C includes a cam mechanism 283 with a cam surface 284 to effectuate automatic actuation of the automatically actuatable gripping members 220', 225', as will be described below.

[0063] The auto-actuableable gripping members 220', 225' each include a base 231', 235' with an aperture 232', 236' (through which a respective pin 299' extends) and a cam follower 222', 227' extending from the base 231', 235'. A clamping arm 233', 237' extends from the base 231', 235' and includes a gripping surface 234', 238'. The auto-actuableable gripping members 220', 225' are coupled to the respective pin 299' for rotation relative to the housing cover 280C (and base 3) between an open position 230 and a closed position 240. Here, as the housing cover 280C is lowered in direction D4, the cam surface 284 of the cam mechanism 283 is engaged with the cam followers 222', 227' of the auto-actuableable gripping members 220', 225' and biases the cam followers 222', 227' of the auto-actuableable gripping members 220', 225' in the open position 230. As the mating support member 8 of the infant support 2 is placed on the movable support 210 by the user and the movable support 210 is lowered in direction D4 into the second position, the cam surface 284 of the cam mechanism 283 is lowered in direction D4 such that the cam followers 222', 227' of the auto-actuableable gripping members 220', 225' are rotated in respective directions T5 and T6, which forces the auto-actuableable gripping members 220', 225' into the open position 230. When the cam mechanism 283 is disengaged (i.e., the housing cover 280C is toggled into the raised position), torsion springs integrated into the auto-actuableable gripping members 220', 225' cause the auto-actuableable gripping members 220', 225' to rotate in their respective directions T3 and T4, thereby forcing them into the closed position 240. The infant support coupling 200' can further include a shock tower 288 to absorb any impact and maintain stability of the infant support coupling 200'.

[0064] Reference is now made to Figures 14-19 In one aspect, the infant care apparatus 1 can include a drive mechanism 60 coupled to the base 3, a vibration mechanism 90, a movable stage 10 movably mounted to the base 3, and a control system 50 (including a controller 51) communicatively coupled to each of the drive mechanism 60 and the vibration mechanism 90. In one aspect, the movable stage 10 includes a first (here, rigid) platform 70 and a support platform 99. The lift motion assembly 65 (here, for example, a double scissor mechanism 94 having a first scissor mechanism 95 operatively coupled to a second scissor mechanism 97, although any other lift motion assembly can be provided (see, e.g., U.S. Patent No. 8, 1 1 1, 1 10, which is incorporated herein by reference in its entirety) is coupled to the first platform 70 and the support platform 99. Figure 15A support platform 99 is movably linked to the first platform 70. The support platform 99 is configured to couple the housing base 281 in any suitable manner and / or directly to the baby support coupling 200, such as using mechanical fasteners, chemical fasteners, or a combination thereof. Suitable examples of a double scissor mechanism 94 can be found in U.S. Patent No. 10,231,555 previously incorporated by reference herein. The first platform 70 includes at least one wheel 76 suitably disposed thereon such that the first platform 70 is rollingly supported by the at least one wheel 76. A track 78 is fixedly attached to the bottom support housing 4 of the base 3. The track 78 is configured to receive and support the at least one wheel 76 of the first platform 70 such that the movable stage 10 is configured to reciprocate in a first direction Dl, such as a horizontal direction, along the track 78. In an aspect, the at least one wheel 76 can be a flanged wheel 77 with a flange that rides within a corresponding groove of the track 78 along the respective track 78 to linearly guide the movable stage 10 along the track 78. In an aspect, the movable stage 10 can reciprocate about three inches along the track 78, while in other aspects, the movable stage 10 can reciprocate any suitable distance along the track 78, such as greater or less than about 3 inches.

[0065] A lift motion assembly 65, here a first scissor mechanism 95 and a second scissor mechanism 97, is attached between the first platform 70 and the support platform 99 to couple the first platform 70 to the support platform 99. Here, the first scissor mechanism 95 includes a first pair of spaced apart parallel members 101, 101’ and a second pair of spaced apart parallel members 103, 103’. The second scissor mechanism 97 includes a third pair of spaced apart parallel members 105, 105’ and a fourth pair of spaced apart parallel members 107, 107’. Lower ends 101L, 101L’ of the first pair of spaced apart parallel members 101, 101’ and lower ends 107L, 107L’ of the fourth pair of spaced apart parallel members 107, 107’ are rotatably pinned to each other and to the first platform 70 about an axis 93 Figure 18 Similarly, upper ends 103U, 103U’ of the second pair of spaced apart parallel members 103, 103’ and upper ends 105U, 105U’ of the third pair of spaced apart parallel members 105, 105’ are rotatably pinned to each other and to the support platform 99 about an axis 96 Figure 18). The first pair of spaced parallel members 101, 101' are pivotably secured at their central portions via horizontal pivot pins or the like to the second pair of spaced parallel members 103, 103'. Correspondingly, the third pair of spaced parallel members 105, 105' are pivotably secured at their respective central portions via horizontal pivot pins or the like to the fourth pair of spaced parallel members 107, 107'. When the support platform 99 is displaced, e.g., in the second direction D2 (such as a vertical direction), the first and second scissor mechanisms 95, 97 move in a crossed manner relative to the pivot pins, as will be described in greater detail later, such that the double scissor mechanism 94 extends between the first platform 70 and the upwardly displaced support platform 99. While the lift motion assembly 65 connected to the movable stage 10 includes the double scissor mechanism 94 as shown and described herein, in other aspects, the movable stage 10 can have any suitable configuration for providing reciprocating motion in the second direction D2.

[0066] Still referring to Figures 14-19 In one aspect, another motion assembly 61 (lateral) is operably connected to the movable stage 10. Suitable examples include providing first and second horizontal bars 71, 72, where the first horizontal bar 71 extends laterally between the lower ends 103L, 103L' of the second pair of spaced parallel members 103, 103', and the second horizontal bar 72 extends between the lower ends 105L, 105L' of the third pair of spaced parallel members 105, 105' so as to provide structural stability. Further, the first and second horizontal bars 71, 72 can further include support wheels 75 at their ends that interface with the travel surface 87 of the first platform 70 of the movable stage 10 for supporting the double scissor mechanism 94 and the support platform 99. Third and fourth horizontal bars 73, 74 are provided, where the third horizontal bar 73 extends laterally between the upper ends 101U, 101U' of the first pair of spaced parallel members 101, 101', and the fourth horizontal bar 74 extends between the upper ends 107U, 107U' of the fourth pair of spaced parallel members 107, 107'. The third and fourth horizontal bars 73, 74 can include support wheels 79 at their ends for engaging and supporting the infant support 2 (as described above) that is coupled to the infant support coupling 200. In another aspect, the support platform 99 can be extended such that the support wheels 79 engage and support on the support platform 99, as shown by the dashed lines in Figure 18

[0067] ​In one aspect, the movable stage 10 can be provided with at least one elastic element 98, such as a tension spring, fixedly attached between two or more of the pairs of spaced apart parallel members 101, 101', 103, 103', 105, 105', 107, 107'. The impedance mechanical element(s) 98 can be provided and configured to assist the extension or retraction of the double scissor mechanism 94 in the second direction D2 by the lifting motion assembly 65 (as described below). For example, the impedance mechanical element 98 can be coupled to the lower ends 103L, 103L' of the second pair of spaced apart parallel members 103, 103' and the lower ends 105L, 105L' of the third pair of spaced apart parallel members 105, 105' (as described below). Figures 14-16 In this configuration, the elastic element 98 exerts a tension force on the second pair of spaced apart parallel members 103, 103' and the third pair of spaced apart parallel members 105, 105' and pulls the relevant portions towards each other, thereby assisting, for example, the upward vertical motion of the lifting motion assembly 65. In another example, the elastic element 98' (as described below) Figure 18 ) can be a compression spring positioned to exert an expansion force on the double scissor mechanism 94, thereby pushing the relevant portions apart, for example, assisting the upward vertical motion of the lifting motion assembly 65. The location of the elastic elements 98, 98' as described above should not be construed as limiting the exact location of the attachment of the elastic elements 98, 98' to the double scissor mechanism 94 and can vary according to similar results. The elastic elements 98, 98' also have the benefit of acting to reduce or increase the downward motion to counter or increase the effect of gravity, respectively.

[0068] With reference to Figures 20-22 and with continued reference to Figures 14-19 As described above, the infant care apparatus 1 includes a drive mechanism 60 coupled to and supported by the bottom support housing 4 of the base 3. The drive mechanism 60 includes a lateral motion assembly 61 to impart a first cyclic motion (e.g., providing lateral motion) on the movable stage 10 in the first direction D1 and a lifting motion assembly 65 to impart a second cyclic motion (e.g., providing lifting motion) on the movable stage 10 in the second direction D2, as described. As can be appreciated, the respective first and second cyclic motions imparted by the corresponding motion assemblies 61, 65 are directed in orthogonal directions and are thus kinematically independent of each other.

[0069] The lateral motion assembly 61 includes a drive portion having a first motor 62 with a drive shaft 63 and suspended from the base 3, and a sliding crank assembly 80 mounted to the bottom support housing 4 of the base 3. The first motor 62 is configured to impart a first cyclical motion in a first direction Dl to the movable stage 10. The sliding crank assembly 80 includes a transmission assembly 86 having a set of first gears 81 operatively coupled to the drive shaft 63 of the first motor 62 and a second gear 82 operatively coupled to the set of first gears 81. A crank member 83 having a first end 84 and a second end 85 couples the second gear 82 to the first platform 70 to impart the first cyclical motion provided by the first motor 62 to the first platform 70 of the movable stage 10. For example, the first end 84 of the crank member 83 can be rotatably coupled to a point on the outer circumference of the second gear 82, and the second end 85 of the crank member 83 can be rotatably coupled to the first platform 70.

[0070] In operation, actuation of the first motor 62 causes rotation of the first gears 81, which in turn causes rotation of the second gear 82. Rotation of the second gear 82 drives the crank member 83 coupled to the outer circumference of the second gear 82. As the first end 84 of the crank member 83 rotates about the second gear 82, the first platform 70 is pushed and pulled in the first direction Dl by the second end 85 of the crank member 83. This operation effects the reciprocating motion of the driven portion of the motion assembly 61, which is linked to the movable stage 10 and thus imparts lateral motion in the first direction, e.g., along the rails 78, to the movable stage 10. Thus, the lateral motion assembly 61 is configured such that a single motor (i.e., the first motor 62) causes the first platform 70 to move in the first direction (e.g., horizontally) and wherein the first motor 62 operates in only a single direction, thereby eliminating backlash of the system. The control system for controlling the lateral motion assembly 61 to achieve the desired motion profile will be discussed in greater detail below.

[0071] Still referring to Figures 14-22The lift motion assembly 65 is disposed on the first platform 70 of the movable stage 10 and is configured to impart a second cyclic motion in a second direction D2 to at least a portion of the movable stage 10 independent of the first cyclic motion imparted by the lateral motion assembly 61 in the first direction. The lift motion assembly 65 includes a second motor 66 disposed on the first platform 70 separate and distinct from the first motor 62. The second motor 66 includes a drive shaft 67 operatively coupled to a worm drive assembly 120. The worm drive assembly 120 converts rotation of the drive shaft 67 to a rotational motion of an output member 121 perpendicular to the rotation of the drive shaft 67. A vertical yoke 122 is rotatably attached to the output member 121 at a first end 123 thereof in such a way that the vertical yoke 122 causes an attachment member 125 attached to a second end 124 of the vertical yoke 122 to reciprocate vertically along Figure 21 the direction D2 as shown. The attachment member 125 is configured to couple and drive / support the support platform 99 (and wheels 79). Thus, the lift motion assembly 65 is configured such that a single motor (i.e., the second motor 66) causes the support platform 99 to move in the second direction D2 (e.g., vertically) and wherein the second motor 66 operates in only a single direction, thereby eliminating backlash of the system. The control system for controlling the lift motion assembly 65 to achieve a desired motion profile will be discussed in greater detail below. Note that the motion assist provided by the resilient elements 98, 98' can be used to deploy a smaller torque motor than if the resilient elements 98, 98' were omitted.

[0072] Because the lateral motion assembly 61 and the lift motion assembly 65 each include first and second motors 62, 66 separate and distinct from one another, the lateral motion assembly 61 can be controlled independent of the lift motion assembly 65. Independently controlling the first and second motors 62, 66 allows for a variety of variable motion profiles to be selected, including cyclic motion in the first direction, in the second direction, or in both.

[0073] Reference is also made to Figures 23A-23EThe control system 50 is configured to effect movement of the drive mechanism 60 in at least one motion profile, such as, for example, preprogrammed selectively variable motion profiles Car Ride 201, Kangaroo 202, Ocean Wave 204, Tree Swing 206, and Rock-A-Bye 208. These selectively variable motion profiles are obtained by independently controlling the horizontal motion provided by the lateral motion assembly 61 and the vertical motion provided by the lifting motion assembly 65 and then coordinating the horizontal and vertical motions to obtain a visually unique motion profile. However, these motion profiles are used for exemplary purposes only and are not to be considered limiting as any motion profile including horizontal and / or vertical motion can be utilized. In one aspect, the different selectively variable motion profiles are deterministically defined by selectively variable speed characteristics of at least one of the first and second cyclic motions of the first and second motion assemblies 61, 65 and selectively variable speed characteristics of at least one of the first and second cyclic motions of the first and second motion assemblies 61, 65. In one aspect, the selectively variable speed characteristics of at least one of the first and second cyclic motions of the first and second motion assemblies 61, 65 and selectively variable speed characteristics of at least one of the first and second cyclic motions of the first and second motion assemblies 61, 65 are selected using the controller 51 from common selection inputs to the control system 50.

[0074] Referring again to Figures 14-22In one aspect, the vibration mechanism 90 is coupled to the base 3. In another aspect, the vibration mechanism 90 is coupled to the movable stage 10 or any other suitable portion of the infant care appliance 1 (here the vibration mechanism is mounted to the first platform 70 and positioned to reduce the vibration pulses imparted to the motors 62, 66 of the motion assemblies 61, 65). The vibration mechanism 90 includes a vibration motor 91 separate and distinct from the first and second motors of the drive mechanism 60. The vibration motor 91 is configured to vibrate the movable stage 10. The vibration motor can be any suitable vibration mechanism, such as a motor having an eccentric weight on an output shaft that rotates about the output shaft to effect vibration. In other aspects, the vibration motor can be any suitable oscillating linear motor or rotary motor. The vibration motor 91 effects different patterns and intensities of vibration in order to create vibration patterns that are selectively imparted to the movable stage 10, which will be discussed in greater detail below. In one aspect, a vibration profile is superimposed on the cyclical motion of the first and / or second motion assemblies 61, 65. The vibration profile can be superimposed on the lateral motion assembly 61 independent of the lifting motion assembly 65. The vibration profile can be superimposed on the lifting motion assembly 65 independent of the lateral motion assembly 61. For example, the vibration mechanism 90 can be mounted to any stage of the movable stage 10, e.g., to the first platform 70 and / or the support platform 99, to effect the desired vibration superimposition. Alternatively, the vibration mechanism 90 can be mounted to any portion of the respective driven portions of the lateral motion assembly and / or the lifting motion assembly. The stage of the motion assembly to which the vibration mechanism 90 is attached can be freely selected without regard to the effect of the coupling on the respective reciprocating motion of the respective motion assembly 61, 65. It is noted that the drive mechanism 60, the lifting motion assembly 65, and the vibration mechanism 90 can be collectively referred to as a drive section of the infant care appliance 1.

[0075] Referring to Figure 1 , Figure 3A , Figure 3B , Figures 14-22 and Figure 24 , the control system 50 can be mounted in the base 3 and provided for effecting different selectively variable motion profiles imparted by the drive mechanism 60 on the movable stage 10 and via the vibration mechanism 90 various vibration patterns for each of the different variable motion profiles. The control system 50 can include any suitable controller 51, such as a microprocessor, a rheostat, a potentiometer, or any other suitable control mechanism for controlling the motion of the drive mechanism 60. In one or more aspects, the controller 51 (as will be described in greater detail below) is configured using artificial intelligence and includes a state machine 51SM (as will be described in greater detail below), a neural network 51NN (as will be described in greater detail below), or any other suitable form of artificial intelligence for operating the infant care appliance 1 in the manner described herein Figure 3C . Figure 3D . Figure 3AOne or more of the following. In one or more aspects, the control system 50 includes a remote controller, such as a replaceable mobile device 351 ( Figure 3A and Figure 3B It is communicatively connected to the controller 51 via any suitable wired connection 380 or wireless connection 381. Figure 3B In other aspects, the replaceable mobile device 351 presents one or more processing capabilities of the controller 51 such that a portion of the processing capabilities of the control system 50 onboard on the base is supplemented or fully presented by the replaceable mobile device 351. The mobile device 51 is configured to: display the operating status of the infant care device 1; display changes in the operating status of the infant care device 1; display (e.g., using one or more peripheral devices 360) sensed active characteristics of the infant within the crib 6 or infant seat 7 (collectively referred to herein as an infant support); provide control to adjust the operating status of the infant care device 1; and / or provide any other suitable operating functions of the infant care device 1 in a remotely operated manner. The controller 51, having the one or more peripheral devices 360, forms a closed-loop control system coupled to the drive section of the infant care device 1 and configured to adjust the action and / or movement of the infant care device 1 to soothe and comfort the infant 390 within the crib 6 (or infant seat 7).

[0076] As described above, controller 51 is communicatively connected to drive mechanism 60 and vibration mechanism 90. Controller 51 is configured to achieve movement of baby support 2 using a selectable variable motion profile with selectable vibration modes selected by the controller from different selectable variable motion profiles and selectable different vibration modes for each of the different selectable variable motion profiles.

[0077] The control system 50 may further include a control panel 52 for observing and controlling the speed and movement of the drive mechanism 60, one or more control switches or knobs 54 for actuating the drive mechanism 60, and various inputs and outputs operatively coupled to the controller 51. For example, the control system 50 may include a horizontal encoder 130 coupled to the output shaft 131 of the first motor 62. Figure 20 The horizontal encoder 130 may include an infrared (IR) sensor 132 and a disk 133 having a single hole or slot 134 positioned thereon (see...). Figure 20 The horizontal encoder 130 is configured such that the controller 51 can determine the rotational speed and quantity of the first motor 62. The vertical encoder 135 (… Figure 22 The vertical encoder 135 can be provided and coupled to the rear shaft 136 of the second motor 66. The vertical encoder 135 may include an IR sensor 137 and a disc 138 having a single hole or slot 139 positioned thereon (see [reference needed]). Figure 22The vertical encoder 135 is configured such that the controller 51 can determine the rotational speed and number of the second motor 66. The position of the vibration mechanism 90 can be selected, as previously described, to avoid noise that generates position signals for the encoders 130 and 135.

[0078] Furthermore, although the horizontal encoder 130 and the vertical encoder 135 have been described above, they are not to be construed as being limited to magnetic encoders, as other types of encoders known in the art may also be used. It may also be desirable to provide a device in which two or more control switches associated with the respective motor are actuated to achieve speed control in the desired direction. Moreover, although the horizontal encoder 130 and the vertical encoder 135 have been described as including only a single slot, this should not be construed as limiting, as encoders with multiple slots may be utilized.

[0079] On one hand, the control system 50 may further include horizontal and vertical limit switches 165, 167. Figure 14 This provides input to controller 51. For example, horizontal and vertical limit switches 165, 167 can be configured to indicate to controller 51 that the first platform 70 or support platform 99 has reached the end of its stroke. Vertical limit switch 167 can be configured to indicate when the support platform 99 is in its lowest and / or highest vertical position relative to base 3. Horizontal limit switch 165 can be configured to indicate when the first platform 70 is at its furthest point from the center position relative to base 3, to the right and / or to the left. Horizontal and vertical limit switches 165, 167 are configured such that control system 50 can determine the initial positions of lateral motion component 61 and lifting motion component 65 and adjust drive mechanism 60 accordingly. In one aspect, limit switches 165, 167 can be optical switches or any other suitable switches. The position of the vibration mechanism can be selected, as described above, to avoid noise that generates position signals for limit switches 165, 167 (to prevent errors from overdrive motors).

[0080] The control panel 52 can also have a display 53 to provide information to the user, such as, for example, the motion profile, the volume of music played through the speaker 56, and the speed of the reciprocating motion, among others. In an aspect, the control panel 52 can be a touch screen control panel, a capacitive control panel, or any suitable user interface configured to receive common selection inputs from a user to select different variably selectable motion profiles. The control switches 54, which can be capacitive switches, areas of a touch screen, toggle switches, buttons, and the like, can include user input switches such as a power switch, a start / stop switch, a motion increment switch, a motion decrement switch, a speed increment switch, a speed decrement button switch, and the like. In one or more aspects, at least a portion of the control panel 52 functionality described herein is provided on the mobile device 360, such that the infant care appliance 1 can be remotely controlled and / or monitored by the mobile device 360. The controller 51 of the control system 50 can also include various outputs. These outputs include, but are not limited to, pulse width modulation (PWM) for the first motor 62, PWM for the second motor 66, display backlighting.

[0081] The explanation below provides an understanding of the exemplary control system 50 of the infant care appliance 1. Based on the physical limitations of the first motor 62 and the second motor 66 of the lateral motion assembly 61 and the lifting motion assembly 65, the maximum speed of the first motor 62 can be approximately four seconds per cycle and the maximum speed of the second motor 66 can be approximately two seconds per cycle. Based on these constraints, the following relationships can be established:

[0082] Table 1 Ride Kangaroo Tree Swing Cootie Swing Sea Wave Number of vertical cycles per horizontal cycle (n) 2 4 2 2 1 Phase offset ) 90 degrees 0 degrees 180 degrees 0 degrees 90 degrees Horizontal period at minimum speed 8 seconds 12 seconds 8 seconds 8 seconds 8 seconds Horizontal speed at maximum speed 4 seconds 8 seconds 4 seconds 4 seconds 4 seconds

[0083] The speed of the first motor 62 is set independently to one cycle, and a feedback control loop is used to ensure that the first motor 62 remains at a constant speed regardless of the dynamics of the components of the infant care appliance 1. As described above, the output of the control system 50 is the PWM signal of the first motor 62. One possible input to the control system is the speed of the first motor 62, which can be observed by the speed of the first motor 62 observed by the horizontal encoder 130. However, to avoid computationally intensive calculations, the control system can be operated in the frequency domain and use the number of processor ticks between the ticks of the horizontal encoder 130 as an input variable. This allows the computational load of the controller 51 to be limited to integers, rather than manipulating floating points. The vibration mechanism 90 generates different patterns of vibrations, which are superimposed on each of the variably selectable motion profiles controlled as described.

[0084] The physical drive mechanism for the lateral motion assembly 61 is a sliding crank assembly 80 that is configured so that the first motor 62 reciprocates the first platform 70 back and forth without needing to change direction. Because the first motor 62 only needs to run in one direction, the kickback effect in the system is eliminated, removing the problems associated with the horizontal encoder 130 on the rear axle 131 of the first motor 62.

[0085] It is known that the natural soothing motion used by people to calm a baby is a combination of at least two motions, both of which move in a reciprocating motion with a gentle acceleration and deceleration, such that the extremes of the motion are a slow stop before reversing the motion and the fastest in the middle of the motion. This motion is the same as the sinusoidal motion produced by the combination of the sliding crank assembly 80 and the worm gear drive assembly 120. The sliding crank assembly 80 and the worm gear drive assembly 120 are configured so that the drive motor runs at a constant rotational speed, while the output motion provided to the baby seat 7 slows and speeds up, thereby simulating the motion of a person soothing a child. These assemblies are also configured so that the drive motor runs in one direction.

[0086] Reference is made to Figure 14 and Figure 20 The torque on the first motor 62 depends on the friction of the entire system (which depends on the weight) and the angle of the crank member 83. The torque of the first motor 62 is controlled by setting the PWM to a predetermined value based on the desired speed set by the user. The controller 51 can include a feed forward compensation to control the speed of the first motor 62.

[0087] Figures 14-22 Any of the components shown in FIG. 5 can be set to zero. For example, reasonable accuracy can be achieved by ignoring the feed forward and derivative terms by using only the proportional and integral terms (where the constants Kp and Ki depend on the input speed).

[0088] Based on feedback from the horizontal encoder 130 and the horizontal limit switch 165, the exact position of the first platform 70 can be determined at any point in its range of motion (labeled "hPos"). Similarly, based on feedback from the vertical encoder 135 and the vertical limit switch 167, the exact position of the support platform 99 can be determined at any point in its range of motion (labeled "vPos").

[0089] While the control of the first platform 70 is based entirely on speed, the control of the support platform 99 can also be based on both position and speed. For a given horizontal position (hPos) and a given motion (which indicates the number of vertical cycles (n) and the phase offset (0) for each horizontal cycle as shown in Table 1 the desired vPos can be calculated as follows:

[0090] Desired _ v Pos= h Pos× v 2 h _ratio× n+Φ (Equation 1)

[0091] where v2h_ratio is a constant defined by the number of vertical encoder ticks per cycle divided by the number of horizontal encoder ticks per cycle. Based on the actual vertical position, the amount of error can be calculated as follows:

[0092] posErr= v Pos - Desired_vPos (Equation 2)

[0093] This error term must be properly scaled to + / - vertical encoder ticks per cycle / 2.

[0094] On the other hand, if the sea wave 204 and the direction of motion of the vehicle 201 are not coherent, there are two possibilities for Desired_vPos for each value of hPos and the vertical error term posErr can be made to be based on the closer of the two.

[0095] The position error term posErr must then be incorporated into the velocity-based feedback control loop. Logically, if the vertical axis is behind (posErr < 0), the velocity should be increased in proportion to the error, and if the vertical axis is ahead (posErr > 0), the velocity should be decreased in proportion to the error, as follows:

[0096] vSP = posErr × K VP + vBase (Equation 3)

[0097] where vBasw = hSP / n × h 2v_ratio (Equation 4)

[0098] and h2v_ratio is defined as horizontal ticks per cycle / vertical ticks per cycle.

[0099] The above description is for exemplary purposes only, as any suitable control scheme can be utilized. As previously mentioned, different vibration patterns generated by the vibration mechanism 90 are superimposed on each variable, optionally moving profile controlled as previously described.

[0100] In an exemplary embodiment, the infant care device 1 is configured such that the seat reciprocates with a vertical displacement of approximately 1.5 inches and a horizontal displacement of approximately 3.0 inches, wherein the vertical displacement frequency ranges between approximately 10 and 40 cycles per minute and the horizontal displacement frequency ranges between approximately 10 and 40 cycles per minute. In another example, the infant care device 1 is configured such that the seat reciprocates with a vertical displacement greater than or less than approximately 1.5 inches and a horizontal displacement greater than or less than approximately 3.0 inches, wherein the vertical displacement frequency ranges between approximately 10 and 40 cycles per minute and the horizontal displacement frequency ranges between approximately 10 and 40 cycles per minute.

[0101] On the other hand, at least a third reciprocating means (not shown) can be added so that the seat can reciprocate in a direction different from the first and second directions applied by the first and second motion components 61, 65 mentioned herein.

[0102] refer to Figure 1 , Figure 2 , Figures 14-22 and Figure 25 This illustrates a method 2000 for applying movement to an infant support 2. The method includes providing a base 3 of the infant care device 1. Figure 25 (Frame 2001). A drive mechanism 60 having a lateral motion component 61 and a lifting motion component 65 is provided to be coupled to the base 3 ( Figure 25 (See frame 2002), wherein the lateral motion assembly 61 has a first motor 62 suspended on the base 3 and the lifting motion assembly 65 has a second motor 66 separate from and different from the first motor 62. A vibration mechanism 90 is provided, connected to the base 3, having a vibration motor 91 separate from and different from the first and second motors 62, 66 of the drive mechanism 60. Figure 25 (Frame 2003). A movable stage 10 is provided, which can be movably mounted to the base 3. Figure 25 (See frame 2004). The movable stage 10 is operatively coupled to the lateral motion assembly 61 such that the first motor 62 applies a first cyclic motion in a first direction D1 to the movable stage 10 via the lateral motion assembly 61, and the movable stage 10 is operatively coupled to the lifting motion assembly 65 such that the second motor 66 applies a second cyclic motion in a second direction D2, independent of the first cyclic motion in the first direction D1 applied by the lateral motion assembly 61, to at least a portion of the movable stage 10 via the lifting motion assembly 65, and is operatively coupled to the vibration mechanism 90 such that the vibration motor 91 causes the movable stage 10 to vibrate. Figure 25 (Frame 2005). The baby support 2 is provided to be connected to the movable level 10 ( Figure 25, block 2006), so that the second cyclic motion and the first cyclic motion are imparted to the infant support 2, and the infant support is configured to cyclically move in both the first direction D1 and the second direction D2 relative to the base 3. The controller 51 is communicatively coupled to the drive mechanism 60 to move the infant support 2 using the selectively variable motion profile with the optional vibration pattern selected by the controller 51 from the different selectively variable motion profiles and the optional different vibration patterns for each of the different selectively variable motion profiles Figure 25 , block 2007).

[0103] Referring again to Figure 3A and Figure 3B As described above, the control system 50 includes one or more peripheral devices 360 that are communicatively coupled to the controller 51 by any suitable wired connection 380 or wireless connection 381. The one or more peripheral devices 360 are configured to observe at least one characteristic of the infant within the crib 6 (or the infant seat 7). The one or more peripheral devices 360 can be integrated with the infant care appliance 1 (such as being integrated into the crib 6 or the base 3) or be remotely connected to the infant care appliance 1 so as to form a remote accessory device to the infant care appliance 1.

[0104] Data from the one or more peripheral devices 360 is recorded by the controller 51 (or by the mobile device 351 so as to exert influence by the controller 51) and used to provide infant stimulation to soothe and calm the mood (e.g., to stop the infant from crying) or state (e.g., to cause / help the infant to fall asleep and / or reduce the infant’s agitation) of the infant. For example, data from the one or more peripheral devices can be used by the controller 51 (as will be described herein) to initiate one or more predetermined motions of the crib 6 (as described herein), initiate one or more sounds (and select a suitable sound volume), activate a light, and / or initiate vibration of the crib 6 (as described herein). The predetermined motions, sounds, changes in sound volume, lights, and vibrations can be activated by the controller 51 individually or in parallel so as to superimpose stimulation to the infant. As described above, in one or more aspects the controller 51 includes an artificial intelligence 51A, where the controller 51 is configured to change and adjust the type and intensity of stimulation provided to the infant based on the effect of the selected stimulation (e.g., as determined by the peripheral device feedback), so that over time the controller 51 becomes more effective at soothing (or learning how to soothe) and meeting the needs of the infant within the crib 6. Note that while the control system 50 is described herein with respect to the crib 6, the infant seat 7 can be controlled in a similar manner.

[0105] As non-limiting examples of the one or more peripheral devices 360, the one or more peripheral devices 360 include optical sensor(s) 361, thermal-based sensor(s) 362, sound sensor(s) 363, motion sensor(s) 364, biometric sensor(s) 365, and / or any other suitable sensor(s) configured to observe (or otherwise monitor) the at least one characteristic of the infant. The optical sensor(s) 361 are any suitable optical sensor(s), including but not limited to one or more of a CCD and CMOS camera. The thermal-based sensor(s) 362 can be any suitable thermal-based sensor(s), including but not limited to any suitable pyroelectric sensor, such as an infrared sensor. The optical sensor 361 and the thermal-based sensor 362 are used by the controller 51 (and / or the mobile device 351) to monitor and measure, in conjunction with the controller 51, one or more of: position changes of the infant within the crib 6 (e.g., where infant positions in a series of video frames are compared to determine infant movement); infant facial expressions; and / or blood oxygen levels and pulse of the infant, such as achieved through image recognition using video of the infant's skin tone / color.

[0106] The sound sensor(s) 363 are any suitable sensor(s) for detecting and / or otherwise measuring sound waves, including but not limited to any suitable microphone(s). The sound sensor(s) 363 are used by the controller 51 (and / or the mobile device 351) to measure or otherwise detect sound changes as compared to nominal background noise (i.e., ambient noise of the environment in which the infant care apparatus 1 is located). The sound sensor(s) 363 are also used by the controller 51 (and / or the mobile device 351) to measure or otherwise detect the type of noise from the infant within the crib 6, where infant noise includes but is not limited to crying, cooing, and babbling.

[0107] The motion sensor(s) 364 are any suitable sensor(s) for detecting and / or otherwise measuring motion / movement of the infant within the crib 6. The motion sensor(s) 364 include but are not limited to one or more of: a camera (e.g., detecting motion through frame comparison and image recognition); an accelerometer; a gyroscope; an inertial measurement unit (IMU); a piezoelectric sensor; a barometric pressure sensor; an electromotive force (EMF) sensor; or any other suitable motion sensor. The motion sensor(s) 364 are used by the controller 51 (and / or the mobile device 351) to measure or otherwise detect motion of the infant of the crib 6, where the motion sensor is located on or worn by the infant and / or located adjacent to the infant within the crib 6 (but not worn by or on the infant).

[0108] The biometric sensor(s) 365 are any suitable sensors for detecting and / or otherwise measuring a biological characteristic of an infant within the crib 6. The biometric sensor(s) 365 include, but are not limited to, a blood pressure monitor, a heart rate monitor, a thermometer, a skin conductance sensor, a pulse oximeter, a motion sensor (e.g., an accelerometer, a gyroscope, an inertial measurement unit (IMU)), and / or any other suitable biometric sensor. In one or more aspects, the biometric sensor(s) 265 are wearable health devices 365W (e.g., and can be referred to as "smart" clothing), such as, for example, a sleeve, a wristband, a hat, pants, a shirt, an anklet, socks, underwear, a diaper, etc. that include one or more of the above-mentioned biometric sensors 365. The biometric sensors are, in one aspect, removable from the smart wearable and / or replaceable from one smart wearable to another to facilitate washing or discarding (such as when a disposable "smart" diaper is used) the smart wearable; while in other aspects, the biometric sensors are non-removable and substantially eco-friendly (again facilitating washing of the smart wearable). The biometric sensor(s) are used by the controller 51 (and / or the mobile device 351) to measure or otherwise detect a biological characteristic, such as, for example, a blood oxygen level, a pulse rate, a body temperature, and a skin conductivity. Figure 3B

[0109] In addition to or in lieu of one or more of the above-mentioned peripheral devices 360, the infant care appliance 1 includes a position sensor 330 (such as the encoder shown above) and / or a current draw sensor 331. The current draw sensor 331 is communicatively coupled to a drive system motor (such as at least the motors 62, 66) and is structured to monitor the current used by the drive system's motor(s). The controller 51 (or the mobile device 351) is structured to determine a state of an infant within the crib 6 (or the infant seat 7) (e.g., such as fussy) by comparing current and position information of the crib 6 (or the infant seat 7) within which an active infant is located to current and position information of the crib 6 (or the infant seat 7) within which an inactive infant is located.

[0110] ​As mentioned above, data from the one or more peripheral devices 360 is recorded by the controller 51 (or by the mobile device 351 for application of influence by the controller 51) and used by the controller 51 to effect changes in one or more of the actions (e.g., auditory stimuli (sounds, music, etc.) and visual stimuli (lights, moving pieces 19, etc.)) and motions (vibrations and motion profiles) of the crib 6. Changes in the one or more of the actions and motions of the crib 6 provide baby stimulation to soothe and comfort the mood or state of the baby. Each of the above-mentioned peripheral devices 360, 361-365 and sensors 330, 331 (collectively referred to herein as sensors) are configured to generate sensor signals 399 that embody at least one characteristic of the baby within the crib 6, including those measured by the peripheral devices 360, 361-365 and sensors 330, 331. The at least one characteristic is an action characteristic (e.g., crying, cooing, babbling, and / or other auditory actions) and / or a motion characteristic (e.g., kicking, rolling, and / or other motions) of the baby 390. It is noted that in one or more aspects, the sensors are in direct communication with the controller 51, while in other aspects, the sensors are in communication with the controller 51, such as indirectly through the mobile device 351 (see Figure 3B ). The controller 51 is configured to send one or more commands to the drive section to activate or drive the motors 62, 66 (and / or the vibration mechanism 90) in a predetermined sequence based on the sensor data of the at least one characteristic sensed by the peripheral devices 360, 361-365 and sensors 330, 331. In one or more aspects, the one or more commands are responsive changes in the one or more of the actions and motions of the crib 6 based on changes in one or more of the action and motion characteristics of the baby 390 (generated by the controller 51), where the characteristics are sensed by the peripheral devices 360, 361-365 and sensors 330, 331.

[0111] As mentioned above and also with reference to Figure 3C and Figure 3DIn one or more aspects, the controller 51 includes an artificial intelligence 51A. The artificial intelligence 51A is configured (i.e., through sensors coupled to the controller 51) to monitor the actions and movements of the infant 390 and the resulting responsiveness of the controller in response thereto. The artificial intelligence 51A also monitors (e.g., through sensors coupled to the controller 51, such as biometric sensors of a smart wearable or other suitable sensors as described herein) the reactions of the infant 390 to the responsiveness changes, such that over time, the controller 51 learns how the infant 390 responds to the responsiveness changes in order to better (i.e., more effectively) soothe and calm the infant 390. In one or more aspects, the artificial intelligence 51A is configured to predict the type of change event (e.g., a cause of the infant becoming fussy, angry, etc., where the change event(s) include hunger, soiled diaper / clothing (e.g., a urination or defecation event), environmental conditions, sickness, etc.) that triggers a change in a biological characteristic of the infant by using active learning (as described herein) and inputs from one or more of the sensors described herein.

[0112] Figure 3C A simple example of a finite state machine 51SM is shown, although it should be understood that the state machine for real-time control of the infant care device 1 can be more complex, having more states and transitions than Figure 3C shown. The state machine 51SM includes any suitable number of states, such as a first state 5102, a second state 5104, and a third state 5106. The states represent, for example, the state of the infant 390 within the infant support (i.e., crying, cooing, babbling, asleep, awake, fussy, temperature, fever, chilled, or any other suitable state). Each change from one state to another state occurs through a transition, such as a first transition 5110. Note that each state can have more than one transition into or out of the state. Although a simple finite state machine 51SM is shown in Figure 3C , the state machine can be any suitable state machine, including but not limited to a state machine that is fully represented by a state table, where the state table correlates states and conditions in tabular form. Further, the state machine 51MS uses any suitable model for state transitions. For example, some state machine models define binary conditions for transitions, while other state machine models allow more general expressions to be used to evaluate state changes (e.g., a Moore state machine has outputs that depend only on the current state, while a Mealy state machine has outputs that depend on inputs and states). Other suitable state machines include algorithmic state machines, Unified Modeling Language state charts, directed graphs, etc.

[0113] The state machine 51SM includes or otherwise forms a discriminator 5120 that discriminates between different inputs from the peripheral devices 360, 361-365 and the sensors 330, 331 and, in one or more aspects, further discriminates the strength of such inputs, such that the state machine 51SM provides an output 5106 that corresponds to the input and, in some aspects, to the input strength. For example, the state machine discriminates the input strength by applying one or more thresholds to one input or combination of inputs from the peripheral devices 360, 361-365 and the sensors 330, 331. Examples of thresholds used to construct the discriminator include, but are not limited to, a time threshold, a strength threshold, and an input combination threshold.

[0114] One example of a time threshold applied by the state machine 51SM is the duration of baby activity before the state machine 51SM provides an output that modifies one or more of the actions and motions of the baby care device 1. As an example, in the case where the baby 390 is crying and the motion of the stroller device is set to a ride motion 201, the discriminator 5120 discriminates whether the crying has stopped for any suitable predetermined time before the state machine provides an output 5156P that modifies or stops the motion of the baby care device 1.

[0115] One example of a strength threshold applied by the state machine 51SM is a threshold applied to the heart rate of the baby (e.g., according to the age of the baby) for adjusting one or more of the actions and motions of the baby care device. For example, the discriminator 5120 discriminates the strength of the heartbeat of the baby with respect to one or more thresholds. A first or upper threshold can indicate a high level of unrest of the baby 390. A second or intermediate threshold can indicate a moderate level of unrest. A heartbeat below the second threshold can indicate substantially no unrest. In the case where the discriminator determines that the heartbeat of the baby 390 is above the first threshold, the state machine 51SM outputs a command, e.g., to the drive system, such that the baby support is moved at a first speed corresponding to the first threshold in one of the motion patterns described herein (which motion pattern can also be determined by the discriminator). In the case where the discriminator determines that the heartbeat of the baby 390 is above the second threshold but below the first threshold, the state machine 51SM outputs a command, e.g., to the drive system, such that the baby support is moved at a second speed corresponding to the second threshold in one of the motion patterns described herein (which motion pattern can also be determined by the discriminator). In the case where the discriminator determines that the heartbeat of the baby 390 is below the second threshold, the state machine 51SM outputs a command, e.g., to the drive system, such that the baby support is moved at a third speed in one of the motion patterns described herein (which motion pattern can also be determined by the discriminator). Here, the first speed is greater / faster than the second speed, and the second speed is greater / faster than the third speed. Note that the third speed can be zero, where the baby support remains substantially stationary.

[0116] One example of an input combination threshold is a predetermined combination of multiple inputs triggering one or more of a change in action and motion of the infant support. For example, in the case where discriminator 5120 determines from peripheral device / sensor data that the infant's heart rate is increasing but there are no other inputs (e.g., data from other peripheral devices / sensors is null or nominal), state machine 51 SM can output that there is no change in action or motion of the infant support. However, in the case where discriminator 5120 determines from peripheral device / sensor data that the infant's heart rate is increasing and the infant is crying, state machine 5120 outputs that one or more of action and motion is changed. For example, the output of the state machine can be to activate the drive section so that the infant support moves in one of the predetermined motion patterns described herein. The predetermined combination of multiple inputs is adaptable, changing from a first predetermined combination to an adaptive predetermined combination according to a record of changes in sensed features. For example, the controller can apply various heuristic algorithms and / or neural networks to a data history of biometric sensor data to identify corresponding feature combinations and / or thresholds for one or more states, and modify or change the predetermined combination to an adaptive predetermined combination.

[0117] While motion of the infant support has been described above in response to inputs to state machine 51 SM, such responses generated by state machine 51 SM are not limited to motion of the infant support. For example, the state machine can output a command(s) that initiates one or any suitable combination of auditory sounds (e.g., music, white noise, etc.), motion of the infant support in a predetermined pattern, and vibration of the infant support.

[0118] Figure 3D The general neural network 51 NN is shown for illustrative purposes only, and it should be understood that the size and depth of the neural network 51 NN used to control the infant care device 1 can differ from that shown Figure 3DThe size and depth of the neural network shown in the middle. For illustrative purposes only, the neural network can include a two-layer network of objects 5502 in an intermediate layer 5155 of the neural network 51NN. An input 5154P can be applied to the objects 5502 at an input layer 5154 of the neural network 51NN, and an output 5156P can be produced at an output layer 5156. Each object 5502 in the exemplary neural network 51NN contains any number of artificial neurons and objects. The neural network is trained using any suitable criteria, such as training data obtained from any number of infants in an infant carrier such as described herein, or training data obtained from any other source, such as clinically known infant biometrics. The neural network is structured to learn the particular characteristics of the infant (e.g., the end user) over time, such that the output of the neural network 51NN improves over time in soothing the infant in the infant carrier. The neural network can output a command(s) that initiates one or any suitable combination of an auditory sound (e.g., music, white noise, etc.) with any suitable intensity determined by the neural network, motion of the infant carrier in a predetermined pattern, and vibration of the infant carrier. As described above, in one or more aspects, the neural network is structured to predict a change event that causes a change in a biometric of the infant by using active learning and input from one or more sensors described herein. Here, the neural network can be trained using any suitable training data indicative of one or more change events as described above in order to predict future occurrences of the one or more change events. In one or more aspects, the neural network can also receive feedback from a parent or guardian of the infant after the occurrence of one or more change events (such as through the mobile device 351, the control panel 52, or any other suitable user interface in communication with the controller 51 and its neural network) to facilitate active learning of the neural network. A notification of the type of change event that has occurred or is occurring, as well as a notification of the change in the biometric, can be presented on any suitable display of the mobile device and / or the control panel (or any other suitable user interface in communication with the controller 51 and its neural network).

[0119] Still referring to Figure 1 , Figure 3A and Figure 3BIn one or more aspects, the control panel 52 includes any suitable display (such as display 53) configured to provide any suitable indicia 353A to a user (e.g., a caregiver) of the infant care appliance 1. In one or more aspects, the mobile device 351 also includes any suitable display 353 configured to provide indicia 353A to a user of the infant care appliance 1, rather than viewing the indicia on the control panel 52. The controller 51 is configured to generate the indicia 353A (or cause the illumination or display of the indicia) to identify responsive changes in one or more of the actions (e.g., auditory stimuli and visual stimuli) and motions (e.g., vibrations and motion profiles) of the infant seat 6. For illustrative purposes only, in the event that the controller 51 activates the vibration mechanism 90 or changes the motion profile of the bassinet 6 in response to the sensed characteristics of the infant 390, the indicia 353A presented to the user indicates that the vibration mechanism 90 has been activated (i.e., the vibration mechanism has been turned on) or the motion profile has changed (i.e., the motion profile has changed to "car ride"). In one or more aspects, the indicia indicates the previous state (i.e., the "from" state) and the current state (i.e., the "to" state) of the action and / or motion, such as, for illustrative purposes only, the motion profile changing from "car ride" to "tree swing" or the sound emitted from the speaker 56 changing from "music" to "white noise." The indicia 353A is, in one aspect, a visual indicia presented on the display 53, while in other aspects, the indicia is presented as an audible indicia (e.g., a spoken word or other suitable audible tone or voice) through any suitable speaker, such as the speaker 56 of the infant care appliance or the speaker 356 of the mobile device 351. In still other aspects, the indicia 353A is presented as both an audible indicia and a visual indicia.

[0120] In one or more aspects, controller 51 is configured to generate a marker 353A (or cause a marker to be illuminated or displayed), wherein marker 353A indicates a change in one or more of the motion characteristics and movement characteristics of the infant 390 sensed by sensors (e.g., peripheral devices 360, 361-365 and sensors 330, 331). For illustrative purposes only, when controller 51 receives a sensor signal 399 reflecting a change in the sensed characteristics of the infant 390, marker 353A presented to the user indicates that the sensed characteristics have changed. For example, the sensed characteristic could be a movement characteristic that changes from restless movement to essentially stillness (e.g., asleep). Here, controller 51 generates a marker to indicate that the movement characteristic has changed to essentially stillness. As another example, the sensed characteristic is the temperature of the infant 390, where the temperature increases from 98.6℉ (37°C) to 100℉ (37.8°C). Here, controller 51 generates a marker to indicate that the temperature of the infant 390 has increased (and in some aspects, the marker includes a digital temperature). In one or more aspects, the marking indicates a previous state (i.e., "from" state) and a current state (i.e., "to" state) of the infant's actions and / or motor characteristics, wherein, for illustrative purposes only, the infant's temperature changes from 98.6℉ (37°C) to 100℉ (37.8°C). As described above, the marking 353A is, in one aspect, a visual marking presented on the display 53, and in other aspects, an auditory marking (e.g., spoken language or other suitable auditory tone or speech) transmitted through any suitable speaker, such as the speaker 56 of the infant care device or the speaker 356 of the mobile device 351. In yet another aspect, the marking 353A is presented as both an auditory and visual marking.

[0121] refer to Figure 1 , Figure 3A , Figure 3B and Figure 26 An exemplary method for operating the infant care device 1 will be described. According to this method, an infant support (such as a crib 6 or an infant seat 7) is provided. Figure 26 (Box 2600). A drive section (as described above, comprising a drive mechanism 60, a lifting motion assembly 65, and a vibration mechanism 90) is provided. Figure 26 (Box 2605), wherein the drive section is coupled to the infant support and has a motor (e.g., one or more of motors 62, 66 and vibration mechanism 90) configured to generate one or more of the action and movement of the infant support. At least one feature of the infant 390 is observed using sensors (e.g., peripheral devices 360, 361-365 and sensors 330, 331). Figure 26, block 2610). The controller 51 records the sensor data from the sensors and effects a change in one or more of the motion and movement of the infant support (block 2615). As described above, based on the sensor data of the at least one feature sensed by the peripherals 360, 361-365 and the sensors 330, 331, the controller 51 sends a command(s) to the motor(s) (e.g., one or more of the motors 62, 66 and the vibration mechanism 90). As also described above, the controller 51 generates an audible and / or visual indicia to identify one or more of the motion feature of the infant 390 sensed by the sensors, the movement feature of the infant 390 sensed by the sensors, the change in the motion feature of the infant 390 sensed by the sensors, and the change in the movement feature of the infant 390 sensed by the sensors. Figure 26

[0122] According to one or more aspects of the disclosed embodiments, an infant apparatus having an infant support is provided. The infant apparatus includes a base and an infant support coupling arranged to releasably couple the infant support to the base, the infant support coupling including a movable support movably connected to the base and configured to form a support seat that engages and supports the infant support on the base with the movable support in a first position relative to the base, and an actuatable gripping member configured to be actuated between a closed position and an open position to capture and release the infant support to and from the base, the actuatable gripping member being automatically actuatable between the closed and open positions by an action of the movable support moving to the first position.

[0123] According to one or more aspects of the disclosed embodiments, the actuatable gripping member is arranged relative to the infant support to effect gripping.

[0124] According to one or more aspects of the disclosed embodiments, the infant support is free of a gripping member.

[0125] According to one or more aspects of the disclosed embodiments, the movable support has a cam that cams the gripping member from the closed position to the open position / from the open position to the closed position.

[0126] ​According to one or more aspects of the disclosed embodiments, an infant care apparatus is provided. The infant care apparatus includes a base; a drive mechanism coupled to the base and having a first motion assembly and a second motion assembly, wherein the first motion assembly has a first motor suspended from the base and the second motion assembly has a second motor separate and distinct from the first motor; a vibration mechanism coupled to the base, the vibration mechanism having a vibration motor separate and distinct from the first and second motors of the drive mechanism; a movable stage movably mounted to the base and operatively coupled to the first motion assembly such that the first motor applies a first cyclic motion in a first direction to the movable stage via the first motion assembly, and the movable stage is operatively coupled to the second motion assembly such that the second motor applies a second cyclic motion in a second direction to at least a portion of the movable stage independent of the first cyclic motion applied by the first motion assembly, and coupled to the vibration mechanism such that the vibration motor causes the movable stage to vibrate; an infant support coupled to the movable stage such that the second cyclic motion and the first cyclic motion are applied to the infant support, and the infant support is configured to cyclically move in both the first direction and the second direction relative to the base; and a controller communicatively coupled to the drive mechanism and configured to move the infant support with a selectably variable motion profile having a selectably varying motion pattern selected using the controller from different selectably variable motion profiles and selectably different vibration patterns for each of the different selectably variable motion profiles.

[0127] According to one or more aspects of the disclosed embodiments, the controller is configured to move the infant support with the selectably variable motion profile using separate power applied to the infant support by the first cyclic motion and the second cyclic motion in both the first direction and the second direction respectively driven by the first motor and the second motor.

[0128] According to one or more aspects of the disclosed embodiments, the controller is configured to select the selectably variable motion profile by determining a separate difference in motion characteristics of the respective first cyclic motion and the second cyclic motion as a function of a common selection input to the controller to effect selection of the selectably variable motion profile.

[0129] According to one or more aspects of the disclosed embodiments, at least a portion of the movable stage isolates the drive mechanism from the base.

[0130] According to one or more aspects of the disclosed embodiments, each of the different selectably variable motion profiles is deterministically defined by a selectably variable speed characteristic of at least one of the respective first and second cyclic motions of the first and second motion assemblies and a selectably variable speed characteristic of at least one of the respective first and second cyclic motions of the first and second motion assemblies.

[0131] According to one or more aspects of the disclosed embodiments, the controller selects a selectable variable speed characteristic of at least one of the first and second cyclic motions of the first and second motion assemblies, respectively, from a common selection input to the controller.

[0132] According to one or more aspects of the disclosed embodiments, each of the different selectable variable motion profiles includes at least one of a horizontal and a vertical motion.

[0133] According to one or more aspects of the disclosed embodiments, the first motion assembly includes a first motor having a drive shaft and a sliding crank assembly including a transmission assembly coupled to the drive shaft of the first motor and a crank member coupled to the transmission assembly and the movable stage, wherein operation of the first motor causes rotation of the sliding crank assembly thereby imparting the first cyclic motion to the movable stage.

[0134] According to one or more aspects of the disclosed embodiments, the second motion assembly includes a second motor having a drive shaft, a worm gear assembly coupled to an output of the drive shaft, and a vertical yoke having a first end coupled to an output shaft of the worm gear assembly, wherein operation of the second motor causes rotation of the vertical yoke thereby imparting the second cyclic motion to the infant support.

[0135] According to one or more aspects of the disclosed embodiments, the second motion assembly further includes a double scissor mechanism coupled to a second end of the vertical yoke configured to support the infant support.

[0136] According to one or more aspects of the disclosed embodiments, a first encoder having a single slot is coupled to a first drive shaft of the first motor and a second encoder having a single slot is coupled to a second drive shaft of the second motor.

[0137] According to one or more aspects of the disclosed embodiments, the controller determines position information of the infant support based at least in part on information from the first encoder and the second encoder.

[0138] According to one or more aspects of the disclosed embodiments, a method is provided. The method includes providing a base of an infant care apparatus; providing a drive mechanism coupled to the base, the drive mechanism having a first motion assembly and a second motion assembly, wherein the first motion assembly has a first motor suspended from the base and the second motion assembly has a second motor separate and distinct from the first motor; providing a vibration mechanism coupled to the base, the vibration mechanism having a vibration motor separate and distinct from the first and second motors of the drive mechanism; providing a movable stage movably mounted to the base and operatively coupled to the first motion assembly such that the first motor applies a first cyclic motion in a first direction to the movable stage via the first motion assembly, and the movable stage is operatively coupled to the second motion assembly such that the second motor applies a second cyclic motion in a second direction to at least a portion of the movable stage independent of the first cyclic motion in the first direction applied by the first motion assembly, and the movable stage is operatively coupled to the vibration mechanism such that the vibration motor causes the movable stage to vibrate; providing an infant support coupled to the movable stage such that the second cyclic motion and the first cyclic motion are applied to the infant support, and the infant support is configured to reciprocate in both the first direction and the second direction relative to the base; and using a controller communicatively coupled to the drive mechanism to move the infant support by using the controller to select a selectably variable motion profile with a select vibration pattern from among different selectably variable motion profiles and selectably different vibration patterns for each of the different selectably variable motion profiles.

[0139] According to one or more aspects of the disclosed embodiments, the first encoder is coupled to a first drive shaft of the first motor, and the second encoder is coupled to a second drive shaft of the second motor.

[0140] According to one or more aspects of the disclosed embodiments, the first encoder and the second encoder each include no more than one slot.

[0141] According to one or more aspects of the disclosed embodiments, the controller determines position information of the infant support based at least in part on information from the first encoder and the second encoder.

[0142] According to one or more aspects of the disclosed embodiments, each of the different selectably variable motion profiles is predetermined, and the method further includes selecting one of the selectably variable motion profiles by a user.

[0143] According to one or more aspects of the disclosed embodiments, an infant care device includes an infant support, a drive section coupled to the infant support and having a motor configured to produce one or more of an action and a motion of the infant support, a biometric sensor configured to observe at least one characteristic of an infant within the infant support, and a controller configured to use a neural network or a state machine communicatively coupled with the biometric sensor and the drive section, wherein the controller records sensor data from the biometric sensor and effects a change in the one or more of the action and the motion of the infant support by the neural network or the state machine.

[0144] According to one or more aspects of the disclosed embodiments, the biometric sensor is configured to produce a sensor signal embodying the at least one characteristic of the infant, wherein the at least one characteristic is one or more of an action characteristic of the infant and a motion characteristic of the infant.

[0145] According to one or more aspects of the disclosed embodiments, the controller is configured to send a command to the motor based on the sensor data of the at least one characteristic sensed by the sensor.

[0146] According to one or more aspects of the disclosed embodiments, the controller produces a responsive change in the one or more of the action and the motion of the infant support based on a change in one or more of the action characteristic of the infant and the motion characteristic of the infant sensed by the biometric sensor.

[0147] According to one or more aspects of the disclosed embodiments, the controller is configured to produce a marker to identify the responsive change in the one or more of the action and the motion of the infant support.

[0148] According to one or more aspects of the disclosed embodiments, the marker is one or more of an audible marker and a visual marker.

[0149] According to one or more aspects of the disclosed embodiments, the controller is configured to produce a marker to identify the change in one or more of the action characteristic of the infant and the motion characteristic of the infant sensed by the biometric sensor.

[0150] According to one or more aspects of the disclosed embodiments, the marker is one or more of an audible marker and a visual marker.

[0151] According to one or more aspects of the disclosed embodiments, the biometric sensor includes one or more of a visual sensor, a heat-based sensor, a sound sensor, a motion sensor, and a biometric sensor.

[0152] According to one or more aspects of the disclosed embodiments, the biometric sensor includes a wearable health device.

[0153] According to one or more aspects of the disclosed embodiments, the drive section is configured to provide more than one degree of freedom of motion to the infant support.

[0154] According to one or more aspects of the disclosed embodiments, a method of infant care using an infant care device, the method comprising: providing an infant support; providing a drive section coupled to the infant support and having a motor configured to produce one or more of an action and a motion of the infant support; observing at least one feature of an infant within the infant support using a biometric sensor; and recording sensor data from the sensor using a controller configured for employing a neural network or a state machine and implementing a change in the one or more of the action and the motion of the infant support using the neural network or the state machine.

[0155] According to one or more aspects of the disclosed embodiments, the biometric sensor produces a sensor signal embodying the at least one feature of the infant, wherein the at least one feature is one or more of an action feature of the infant and a motion feature of the infant.

[0156] According to one or more aspects of the disclosed embodiments, the controller sends a command to the motor based on sensor data of the at least one feature sensed by the biometric sensor.

[0157] According to one or more aspects of the disclosed embodiments, the controller produces a responsive change in the one or more of the action and the motion of the infant support based on a change in one or more of an action feature of the infant and a motion feature of the infant sensed by the biometric sensor.

[0158] According to one or more aspects of the disclosed embodiments, the controller produces a marker to identify the responsive change in the one or more of the action and the motion of the infant support.

[0159] According to one or more aspects of the disclosed embodiments, the controller is configured to produce a marker to identify a change in one or more of an action feature of the infant and a motion feature of the infant sensed by the biometric sensor.

[0160] According to one or more aspects of the disclosed embodiments, the biometric sensor comprises one or more of a vision sensor, a heat-based sensor, a sound sensor, a motion sensor, and a biometric sensor.

[0161] According to one or more aspects of the disclosed embodiments, the biometric sensor comprises a wearable health device.

[0162] According to one or more aspects of the disclosed embodiments, the drive section provides more than one degree of freedom of motion to the infant support.

[0163] According to one or more aspects of the disclosed embodiments, an infant care device includes an infant support, a drive section coupled to the infant support, the drive section including a motor configured to generate one or more of an action and a motion of the infant support, a closed loop control system communicatively coupled to the drive section, the closed loop control system including at least one biometric sensor configured to observe an activity characteristic of an infant within the infant support, and a controller configured to use a neural network or a state machine communicatively coupled to the at least one biometric sensor and the drive section, the controller configured to record changes in the activity characteristic of the infant sensed by the at least one biometric sensor and generate responsive changes in the one or more of the action and the motion of the infant support by the neural network or the state machine based on the changes in the activity characteristic of the infant.

[0164] According to one or more aspects of the disclosed embodiments, the controller is configured to generate a flag to identify changes in one or more of the action characteristic of the infant and the motion characteristic of the infant sensed by the at least one biometric sensor.

[0165] It is to be understood that the foregoing description is merely that of the aspects of the disclosed embodiments. Various alternatives and modifications can be devised by those skilled in the art without departing from the aspects of the disclosed embodiments. Accordingly, the aspects of the disclosed embodiments are intended to embrace all such alternatives, modifications and variations as fall within the scope of any claims appended hereto. Furthermore, the aspects of the disclosed embodiments expressly contemplate combinations and permutations of certain features that are disclosed in different dependent or independent claims, to the extent such features are not mutually inconsistent.

Claims

1. An infant care device comprising: an infant support; a multi-drive axis drive section coupled to the infant support and having a plurality of motors configured to produce an action and a motion of the infant support, the motion being a plurality of degrees of freedom motion, wherein at least one axis of the motion is a Z-axis motion; a biometric sensor configured to observe at least one feature of an infant within the infant support; and a controller configured to use a neural network or a state machine communicatively coupled to the biometric sensor and the multi-drive axis drive section, wherein the controller records sensor data from the biometric sensor and effects a change in the action of the infant support and the motion of the infant support through the neural network or the state machine, the change effecting a soothing and a calming of a state of an infant within the infant support, wherein the controller is configured to learn, based on biometric sensor input over time, a reaction of an infant to a change in one or more of the action and motion of the infant support in order to adjust a subsequent application of the change in one or more of the action and motion of the infant support.

2. The infant care device of claim 1, wherein the biometric sensor is configured to produce a sensor signal embodying the at least one feature of the infant, wherein the at least one feature is one or more of an action feature of the infant and a motion feature of the infant.

3. The infant care device of claim 1, wherein the controller is configured to send a command to the plurality of motors based on sensor data of the at least one feature sensed by the sensor.

4. The infant care device of claim 1, wherein the controller produces a responsive change in the one or more of the action and the motion of the infant support based on a change in one or more of an action feature of the infant and a motion feature of the infant sensed by the biometric sensor.

5. The infant care device of claim 4, wherein the controller is configured to produce a marker to identify the responsive change in the one or more of the action and the motion of the infant support.

6. The infant care device of claim 5, wherein the marker is one or more of an audible marker and a visual marker.

7. The infant care device of claim 4, wherein the controller is configured to produce a marker to identify the change in one or more of the action feature of the infant and the motion feature of the infant sensed by the biometric sensor.

8. The infant care device of claim 7, wherein the marker is one or more of an audible marker and a visual marker.

9. The infant care device of claim 1, wherein the biometric sensor comprises one or more of a visual sensor, a heat-based sensor, a sound sensor, a motion sensor, and a biometric sensor.

10. The infant care device of claim 1, wherein the biometric sensor comprises a wearable health device. ​ 11. The infant care appliance of claim 1, wherein the multi-drive axis drive section is configured to provide more than one degree of freedom of motion to the infant support.

12. A method of infant care using an infant care appliance, the method comprising: providing an infant support; providing a multi-drive axis drive section coupled to the infant support and having a plurality of motors configured to produce an action and a motion of the infant support, the motion being a plurality of degrees of freedom of motion, wherein at least one axis of the motion is a Z-axis motion; observing at least one feature of an infant within the infant support using a biometric sensor; and recording sensor data from the biometric sensor using a controller configured for employing a neural network or a state machine and implementing changes in the action of the infant support and the motion of the infant support using the neural network or the state machine, the changes implementing soothing and pacification of a state of an infant within the infant support, wherein the controller is configured to learn, based on biometric sensor input over time, a reaction of an infant to changes in one or more of the action and motion of the infant support in order to adjust subsequent application of changes in one or more of the action and motion of the infant support.

13. The method of claim 12, wherein the biometric sensor produces sensor signals embodying the at least one feature of the infant, wherein the at least one feature is one or more of an action feature of the infant and a motion feature of the infant.

14. The method of claim 12, wherein the controller sends commands to the plurality of motors based on sensor data of the at least one feature sensed by the biometric sensor.

15. The method of claim 12, wherein the controller produces responsive changes in the one or more of the action and the motion of the infant support based on changes in one or more of an action feature of the infant and a motion feature of the infant sensed by the biometric sensor.

16. The method of claim 15, wherein the controller produces indicia to identify the responsive changes in the one or more of the action and the motion of the infant support.

17. The method of claim 15, wherein the controller is configured to produce indicia to identify changes in one or more of the action feature of the infant and the motion feature of the infant sensed by the biometric sensor.

18. The method of claim 12, wherein the biometric sensor comprises one or more of a vision sensor, a heat-based sensor, a sound sensor, a motion sensor, and a biometric sensor.

19. The method of claim 12, wherein the biometric sensor comprises a wearable health device.

20. The method of claim 12, wherein the multi-drive axis drive section provides more than one degree of freedom of motion to the infant support.

21. An infant care appliance, comprising: An infant support; a drive section coupled to the multi-drive axis of the infant support, the multi-drive axis of the drive section comprising a plurality of motors configured to produce one or more of an action and a motion of the infant support, the motion being a plurality of degrees of freedom motion, wherein at least one axis of the motion is a Z-axis motion; a closed loop control system communicatively coupled to the multi-drive axis of the drive section, the closed loop control system comprising: at least one biometric sensor configured to observe an activity characteristic of an infant within the infant support; and a controller configured to use a neural network or a state machine communicatively coupled to the at least one biometric sensor and the multi-drive axis of the drive section, the controller configured to record changes in the activity characteristic of the infant sensed by the at least one biometric sensor and produce responsive changes in one or more of an action of the infant support and a motion of the infant support through the neural network or state machine based on the changes in the activity characteristic of the infant, wherein the controller is configured to learn, based on biometric sensor input over time, a reaction of an infant to the responsive changes in one or more of the action and the motion of the infant support in order to adjust subsequent application of the responsive changes in one or more of the action and the motion of the infant support.

22. The infant care apparatus of claim 21, wherein the controller is configured to produce a flag to identify changes in one or more of the action characteristic of the infant and the motion characteristic of the infant sensed by the at least one biometric sensor.

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