# US 2023/0053418 A1 · Rocking legs for a bed > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0053418 A1 - Document ID: US20230053418A1 - Status: Published application - Kind: A1 - Application number: 17/851,974 - Filed: 2022-06-28 - Published: 2023-02-23 - Earliest claimed: 2021-08-18 - Assignees: Adiva Wellness Srl - Applicants: Adiva Wellness Srl - Inventors: ADRIAN FRATILA - Web page: https://patentgrep.com/patent/US20230053418A1 ## CPC - A47C 21/006: {Oscillating, balancing or vibrating mechanisms connected to the bedstead} - A47D 9/04: with disconnectable rockers - H02K 41/025: Asynchronous motors - A47C: CHAIRS; SOFAS; BEDS - A47D: FURNITURE SPECIALLY ADAPTED FOR CHILDREN (school benches or desks A47B39/00, A47B41/00) - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) ## Abstract A motion imparting leg for imparting an oscillating or reciprocating rectilinear motion to a rocking bed, comprising a base, an upper surface movable relative to the base for imparting the oscillating or reciprocating motion to the rocking bed, a servo motor for driving movement of the upper surface, a position sensor for determining the rotational position of the servo motor or the position of the upper surface, and a motor controller for controlling the servo motor based on data from the position sensing means. ## Claims ### Claim 1 A motion imparting leg for imparting an oscillating or reciprocating rectilinear motion to a rocking bed, the motion imparting leg comprising: a base; an upper surface movable relative to the base for imparting oscillating or reciprocating motion; a servo motor for driving movement of the upper surface; a position sensor for determining a rotational position of the servo motor or a position of the upper surface; and a motor controller for controlling the servo motor based on data from the position sensor. ### Claim 2 (depends on 1) A motion imparting leg as claimed in claim 1, wherein the position sensor includes a rotary encoder disposed to a rotor or shaft of the servo motor. ### Claim 3 (depends on 1) A motion imparting leg as claimed in claim 1, wherein the position sensor includes a linear encoder for encoding the position of the upper surface. ### Claim 4 (depends on 2) A motion imparting leg as claimed in claim 2, further comprising a rectilinear motion assembly for converting the rotation of the shaft of the servo motor to rectilinear movement of the upper surface. ### Claim 5 (depends on 4) A motion imparting leg as claimed in claim 4, wherein the rectilinear motion assembly comprises a threaded rod rotationally coupled to the shaft of the servo motor and coupled to the upper surface, the threaded rod and shaft being aligned substantially on a same axis. ### Claim 6 (depends on 5) A motion imparting leg as claimed in claim 5, wherein a flexible coupling is provided to couple an end of the threaded rod to an end of the servo motor shaft. ### Claim 7 (depends on 5) A motion imparting leg as claimed in claim 5, wherein the rectilinear motion assembly comprises a movable carriage disposed to the threaded rod and coupled to the upper surface, wherein rotation of the servo motor shaft rotates the threaded rod causing the movable carriage to move rectilinearly along the threaded rod. ### Claim 8 (depends on 7) A motion imparting leg as claimed in claim 7, wherein the movable carriage comprises a linear slider assembly parallel to the threaded rod. ### Claim 9 (depends on 8) A motion imparting leg as claimed in claim 8, wherein the position sensor includes a linear encoder for encoding the position of the upper surface, and wherein the linear encoder is disposed to the linear slider assembly. ### Claim 10 (depends on 1) A motion imparting leg as claimed in claim 1, wherein the motor controller is configured to use variable-frequency drive control. ### Claim 11 (depends on 10) A motion imparting leg as claimed in claim 10, wherein the motor controller is configured to use field-oriented control. ### Claim 12 (depends on 1) A motion imparting leg as claimed in claim 1, wherein the motor controller comprises a communication device for receiving or sending data to a central control hub or a similar motion imparting leg. ### Claim 13 (depends on 12) A motion imparting leg as claimed in claim 12, wherein the communication device includes a wired communication port. ### Claim 14 (depends on 1) A motion imparting leg as claimed in claim 1, wherein a bed mounting bracket comprises the upper surface. ### Claim 15 (depends on 1) A motion imparting leg as claimed in claim 1, further comprising a movable shroud for substantially surrounding at least some components of the motion imparting leg. ### Claim 16 (depends on 1) A motion imparting leg as claimed in claim 1, further comprising a safety system for monitoring that the motion imparting leg is operating as expected, the safety system generating a warning signal when the motion imparting leg is operating unexpectedly. ### Claim 17 (depends on 16) A motion imparting leg as claimed in claim 16, wherein the safety system is configured to monitor for a decoupling between rotational motion of the servo motor shaft and rectilinear motion of the upper surface. ### Claim 18 (depends on 16) A motion imparting leg as claimed in claim 16, wherein the safety system is configured to monitor for excessive rectilinear motion beyond two predetermined points on a rectilinear path. ### Claim 19 (depends on 18) A motion imparting leg as claimed in claim 18, wherein the safety system includes at least two optical switches for determining excessive rectilinear motion. ### Claim 20 (depends on 1) A motion imparting leg as claimed in claim 1, further comprising an emergency power supply system configured to supply power to the motor controller to store positional data in an event of power loss. ### Claim 21 (depends on 1) A rocking bed retrofitted with a plurality of motion imparting legs as claimed in claim 1, wherein a movable surface of each motion imparting leg is removably coupled to a bed frame or leg of a bed. ### Claim 22 (depends on 1) A rocking bed comprising a bed frame and a plurality of motion imparting legs as claimed in claim 1, the motion imparting legs being attached around a periphery of a bed frame. ### Claim 23 A method of calibrating a motion imparting leg, the method comprising: providing a motion imparting leg comprising an upper surface movable relative to a base through a motion path, an electric motor for driving movement of the upper surface through the motion path, a motor controller for controlling an electric motor and a positioning system connected to a motor controller; operating the electric motor to drive the upper surface through the motion path until the positioning system determines both ends of the motion path; and storing positional data related to the determined ends in the motor controller.