Enhanced motion-enabled sleep surface

A method for moving an upper frame disposed within a rocking bed structure, said method comprising:

• moving, by one or more actuators, the upper frame in accordance with at least one motion selected from the group consisting of a rocking motion, a vertical motion, and both the rocking motion and the vertical motion, wherein each motion of the at least one motion includes each phase of the following phases (i), (ii), (iii) and (iv) occurring at least once:
• (i) a point on the upper frame accelerates from a first endpoint to a mid-cycle range of locations between the first endpoint and a second endpoint;
• (ii) the point on the upper frame decelerates from the mid-cycle range of locations to the second endpoint;
• (iii) the point on the upper frame accelerates from the second endpoint to the mid-cycle range of locations;
• and
• (iv) the point on the upper frame decelerates from the mid-cycle range locations to the first endpoint;
• and
• commencing motion of the upper frame from parallel to a ground or floor at a commencement point is characterized by acceleration of the upper frame from the commencement point to a mid-point of the mid-cycle range to the first end point, followed by deceleration of the upper frame from the mid-point to the first endpoint, followed by commencement of phases (i)-(iv),
• wherein the rocking bed structure includes a level detection mechanism configured to return the upper frame to a level, horizontal position;
• and
• wherein the rocking bed structure includes a pivot attached to the upper frame in an off-center position and one or more vertical motion actuators of the one or more actuators configured to achieve, during the rocking motion, designed ratios of vertical travel distance and vertical travel cycle time at a head end and a foot end of the upper frame and of associated maximum angles of the upper frame with respect to a reference surface parallel to a floor.

A computer program product, comprising one or more computer readable hardware storage devices having computer readable program code stored therein, said program code containing instructions executable by one or more processors of a computer system to implement a method for moving an upper frame disposed within a rocking bed structure, said method comprising:

• moving, by one or more actuators, the upper frame in accordance with at least one motion selected from the group consisting of a rocking motion, a vertical motion, and both the rocking motion and the vertical motion, wherein each motion of the at least one motion includes each phase of the following phases (i), (ii), (iii) and (iv) occurring at least once:
• (i) a point on the upper frame accelerates from a first endpoint to a mid-cycle range of locations between the first endpoint and a second endpoint;
• (ii) the point on the upper frame decelerates from the mid-cycle range of locations to the second endpoint;
• (iii) the point on the upper frame accelerates from the second endpoint to the mid-cycle range of locations;
• and
• (iv) the point on the upper frame decelerates from the mid-cycle range locations to the first endpoint;
• and
• commencing motion of the upper frame from parallel to a ground or floor at a commencement point is characterized by acceleration of the upper frame from the commencement point to a mid-point of the mid-cycle range to the first end point, followed by deceleration of the upper frame from the mid-point to the first endpoint, followed by commencement of phases (i)-(iv),
• wherein the rocking bed structure includes a level detection mechanism configured to return the upper frame to a level, horizontal position;
• and
• wherein the rocking bed structure includes a pivot attached to the upper frame in an off-center position and one or more vertical motion actuators of the one or more actuators configured to achieve, during the rocking motion, designed ratios of vertical travel distance and vertical travel cycle time at a head end and a foot end of the upper frame and of associated maximum angles of the upper frame with respect to a reference surface parallel to a floor.