WO2024020158A1

WO2024020158A1 - Dynamic furniture system

Info

Publication number: WO2024020158A1
Application number: PCT/US2023/028274
Authority: WO
Inventors: Richard Johnson DUNCAN III
Original assignee: Duncan Iii Richard Johnson
Priority date: 2022-07-21
Filing date: 2023-07-20
Publication date: 2024-01-25

Abstract

A dynamic furniture system comprises: a first frame portion; a set of rollers mounted to the first frame portion; a second frame portion including one or more rockers, each of the one or more rockers defining a roller-interface surface having a curved profile; wherein the set of rollers interface with the roller-interface surface of each of the one or more rockers such that the second frame portion is moveable relative to the first frame portion by rotation of the set of rollers along each roller-interface surface; an electric motor mounted to the first frame portion; a drive wheel operatively coupled to a rotational output element of the electric motor, the drive wheel interfacing with a wheel-interface surface of the second frame portion; and an electronic control system interfacing electrically with the electric motor.

Description

DYNAMIC FURNITURE SYSTEM

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of U.S. patent application serial number 63/368,990, filed July 21, 2022, which is incorporated herein by reference in entirety for all purposes.

BACKGROUND

[0002] Dynamic forms of furniture such as rocking chairs, swings, and cribs can be manually moved in a back-and-forth motion by a person through manual effort such as rocking, pumping, or pushing. Some forms of furniture may be too large, too heavy, or unsuitably positioned to enable a person to impart motion to the furniture through manual effort. Furthermore, maintaining motion of furniture while using the furniture for its intended purpose may be challenging or impractical.

SUMMARY

[0003] According to an example of the present disclosure, a dynamic furniture system comprises: a first frame portion; a set of rollers mounted to the first frame portion; a second frame portion including one or more rockers, each of the one or more rockers defining a roller-interface surface having a curved profile; wherein the set of rollers interface with the roller-interface surface of each of the one or more rockers such that the second frame portion is moveable relative to the first frame portion by rotation of the set of rollers along each roller-interface surface; an electric motor mounted to the first frame portion; a drive wheel operatively coupled to a rotational output element of the electric motor, the drive wheel interfacing with a wheel-interface surface of the second frame portion; and an electronic control system interfacing electrically with the electric motor.

[0004] The electronic control system is configured to provide motion control for the dynamic furniture system by varying a parameter of electrical energy supplied to the electric motor over time to induce back-and-forth motion of the second frame portion relative to the first frame portion by torque transfer from rotation of the drive wheel along the wheel-interface surface to the second frame portion.

[0005] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Furthermore, the claimed subject matter is not limited to implementations that solve any or all disadvantages noted in any part of this disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

[0006] FIGS. 1A, IB, and 1C depict an elevation view of an example dynamic furniture system.

[0007] FIG. 2 depicts the dynamic frame system including additional furniture components.

[0008] FIGS. 3A and 3B depict a plan view of the dynamic furniture system.

[0009] FIGS. 3C and 3D depict an elevation view of example motor supports.

[0010] FIG. 4 is a schematic diagram depicting additional aspects of the control system of FIGS. 3A and 3B interfacing with additional components of the dynamic furniture system. [0011] FIGS. 5A, 5B, 5C, and 5D is a flow diagram depicting an example method for the dynamic furniture system.

[0012] FIGS. 6A, 6B, and 6C are graphs depicting example relationships between a position of the second frame portion of the dynamic furniture system and torque provided by a wheel and a motor of the dynamic furniture system.

[0013] FIGS. 7 A and 7B depict an elevation view of another example of the dynamic furniture system disclosed herein.

[0014] FIGS. 8 A and 8B depict a detailed view of the dynamic furniture system of FIGS. 7 A and 7B.

[0015] FIG. 9 depicts a plan view of the dynamic furniture system of FIGS. 7 A and 7B.

DETAILED DESCRIPTION

[0016] According to an example of the present disclosure, a dynamic furniture system comprises a first frame portion and a second frame portion that is moveable relative to the first frame portion. The dynamic furniture system further includes a set of rollers mounted to the first frame portion, and the second frame portion includes one or more rockers. Each of the one or more rockers defines a roller-interface surface having a curved profile. The set of rollers interface with the roller-interface surface of each of the one or more rockers such that the second frame portion is moveable relative to the first frame portion by rotation of the set of rollers along each roller-interface surface. The dynamic furniture system further includes an electric motor mounted to the first frame portion, and a drive wheel operatively coupled to a rotational output element of the electric motor. The drive wheel interfaces with a wheel-interface surface of the second frame portion. The dynamic furniture system further includes an electronic control system interfacing electrically with the electric motor. The electronic control system is configured to provide motion control for the dynamic furniture system by varying a parameter of electrical energy supplied to the electric motor over time to induce back-and-forth motion of the second frame portion relative to the first frame portion by torque transfer from rotation of the drive wheel along the wheel -interface surface to the second frame portion. The back and forth motion may be defined as a predetermined pattern, such as the steady and smooth oscillation of a swinging pendulum.

[0017] FIGS. 1A, IB, and 1C depict an elevation view of an example dynamic furniture system 100. Within FIGS. 1A, IB, and 1C internal components of dynamic furniture system 100 are visible for purposes of illustration.

[0018] Dynamic furniture system 100 includes a first frame portion 110 (represented by a first broken line) and a second frame portion 112 (represented by a second broken line) that can move relative to the first frame portion by back-and-forth motion, as indicated by arrows 102 and 104. In this example, first frame portion 110 takes the form of a lower base portion that rests upon a ground surface 101, and second frame portion 112 takes the form of an upper frame portion that is supported above the ground surface by the lower frame portion. Second frame portion 112, as an upper frame portion, may include or support additional furniture components thereupon to provide a variety of furniture configurations, including chairs, recliners, beds, etc. An example furniture configuration for furniture system 100 in the form of a lounge chair is described in further detail with reference to FIG. 2.

[0019] FIG. 1A depicts second frame portion 112 at a center position relative to first frame portion 110. FIG. IB depicts second frame portion 112 at a first extended position left-of-center in the direction indicated by arrow 102 of FIG. 1A relative to first frame portion 110. FIG. 1C depicts second frame portion 112 at a second extended position right-of-center in the direction indicated by arrow 104 of FIG. 1A relative to first frame portion 110. Back-and-forth motion of second frame portion 112 relative to first frame portion 110 may be selectively driven by an electric motor, as described in further detailed herein.

[0020] Second frame portion 112 includes one or more rockers of which rocker 120 is an example. Each rocker defines a roller-interface surface 122, an example of which is depicted in FIG. 1 A with respect to rocker 120. Dynamic furniture system 110 further includes a set of rollers 130 mounted to first frame portion 110 of which rollers 132, 134, 136 and 138 are examples. The set of rollers 130 interface with the rollerinterface surface of each of the one or more rockers such that second frame portion 112 is moveable relative to first frame portion 110 by rotation of the set of rollers along the roller-interface surface(s) of the rocker(s). In this example, rollers 132, 134, 136 and 138 interface with roller-interface surface 122 of rocker 120. The set of rollers 130, in this example, are each free to rotate in either direction as indicated, for example, by arrow 106 with respect to roller 136, about an axis that is orthogonal to the page in FIG. 1.

[0021] While four rollers are depicted in FIG. 1 interfacing with rocker 120, in other examples, a fewer number of rollers (e.g., two or three) or a greater number of rollers (e.g., five, six, etc.) may interface with each rocker. As an example, rollers 132 and 138 may be included to interface with roller-interface surface 122, and rollers 134 and 136 may be omitted from dynamic furniture system 100. This two roller per rocker configuration may reduce complexity of manufacturing the dynamic furniture system by eliminating or reducing the need to arrange three or more rollers along an arc. Other interface elements may include a frictionless and smooth material coupling, (PTFE & steel), or magnetic levitation. In any case, the interface may also incorporate a guide system in the 90 degree orthogonal direction to eliminate side-side travel (perpendicular to arrows 102 and 104). This guide system can include rollers, magnets, or a specific shape in the roller profile and/or rocker to allow for lateral support (e.g., a v-groove).

[0022] In the example of FIGS. 1 A, IB, and 1C, roller-interface surface 122 has a curved profile that forms a downward-facing convex shape. Accordingly, in this example, the set of rollers 130 are spatially arranged along the same curved profile to interface with the rocker(s) along the roller-interface surface(s). Note that in the case of only two rollers being used per rocker (e.g., rollers 132 and 138), the two rollers may be arranged along a line (e.g., parallel to the ground surface).

[0023] In at least some examples, the curved profile of roller-interface surface 122 may form an arc segment of a circle such that back-and-forth motion of second frame portion 112 relative to first frame portion 110 as indicated by arrows 102 and 104 simulates pendulum motion of a fixed length pendulum. In another example, rollerinterface surface 122 may instead have a flat or linear profile that is generally parallel to the ground surface to provide linear back-and-forth motion. In this example, the rollers would also have a linear arrangement.

[0024] In still further examples, the set of rollers may be mounted to second frame portion 112, and first frame portion 110 may include one or more rockers, each having a roller-interface surface. In this example, a similar fixed length pendulum motion may be achieved by the roller-interface surface of each rocker facing upwards and by forming an arc-segment of a circle that has an upward-facing concave shape along which the rollers travel. In this example, the rollers can be spatially arranged along the same profile as the roller-interface surface. [0025] Furthermore, in at least some examples, roller-interface surface 122 of each rocker may have a concave region as viewed in cross-section within a plane normal to a path of travel of rollers 130. The rollers interfacing with roller-interface surface 122 may travel along a floor or base of the concave region, thereby constraining lateral movement of the rockers in a direction orthogonal to the back-and-forth motion of second frame portion 112. As another example, the rollers may include a circumferential lip or ridge on one or more sides that interfaces with an edge of the rocker to constrain the rockers and limit lateral movement of the rockers in a direction orthogonal to the back-and-forth motion of second frame portion 112. As yet another example, the rollers and/or the rockers may feature coning that limits lateral movement of the rockers in a direction orthogonal to the back-and-forth motion of second frame portion 112, particularly where two rockers are used, each with coning that opposes the other. Additionally or alternatively, dynamic furniture system 110 may include a set of lateral rollers that interface with a side of the rockers to constrain lateral movement of the rockers in a direction orthogonal to the back-and-forth motion of second frame portion 112, as described in further detail with reference to FIGS. 3A and 3B.

[0026] Dynamic furniture system 110 includes one or more drive wheels of which drive wheel 140 is an example. Each drive wheel is mounted to one of first frame portion 110 or second frame portion 112. In the example of FIGS. 1A, IB, and 1C, drive wheel 140 is mounted to first frame portion 110 via a rotational output element (e.g., motor shaft) of a motor 142 of dynamic furniture system 100. Motor 142 may take the form of an electric motor, as an example. The other of the first frame portion 110 or the second frame portion 112 to which the drive motor is not mounted further includes a wheel -interface surface 144. In this example, wheel -interface surface 144 is provided upon or forms part of second frame portion 112 and is curved. As an example, wheel-interface surface 144 forms an arc segment of a circle and has a downwardfacing convex shape in FIGS. 1 A, IB, and 1C. By providing wheel -interfacing surface 144 with the same shape as roller-interfacing surface 122, drive wheel 140 and the set of rollers 130 maintain contact with their respective interface surfaces across a range of back-and-forth motion of second frame portion 112 relative to first frame portion 110. [0027] While motor 142 and drive wheel 140 are depicted as being mounted along a central axis of dynamic furniture system 100, in another example, one or more of the rollers (e.g., 132, 134, 136, 138) that interface with the rockers (e.g., 120) can be powered by a motor, such as described herein with reference to motor 142. In this example, the one or more rollers that are powered by the motor can take the place of drive wheel 140.

[0028] Wheel-interface surface 144 may form part of a wheel -interface element 146, in at least some examples. For example, wheel -interface element 146 may be mounted to second frame portion 112, as depicted in FIGS. 1 A, IB, and 1C. In at least some examples, wheel -interface element 146 and its wheel -interface surface 144 may form a toothed rack or track, and drive wheel 140 may form a toothed gear having teeth or other suitable protrusions that mesh with the toothed track. As a toothed rack or track, wheel-interface element 146 may be a flexible belt or band formed from a fiberglass reinforced polymer and/or metal core that is mounted to supporting surfaces of second frame portion 112 along a path of travel of drive wheel 140, as an example. The use of meshing teeth or other suitable protrusions may be used to increase purchase and hence torque transfer between drive wheel 140 and wheel-interface surface 144. In other examples, wheel -interface surface 144 does not form a toothed rack or track, and drive wheel 140 does not form a toothed gear. As an example, wheel 140 may include a rubber or polymer tread or tire that grips wheel-interface surface 144. Wheel-interface surface 144 and its wheel-interface element 146 may be formed from a rubber or polymer in at least some examples. As an example, wheel-interface element 146 may be a flexible sheet or strip of material that is mounted to supporting surfaces of second frame portion 112 along a path of travel of drive wheel 140.

[0029] Drive wheel 140 interfaces with wheel-interface surface 144 such that second frame portion 112 is moved relative to first frame portion 110 by rotation of the drive wheel (e.g., as indicated by arrow 108 in FIG. 1A) along wheel-interface surface 144 through rotational propulsion (e.g., torque) provided by motor 142. Within FIG. 1A, rotation of drive wheel 140 as indicated by arrow 108 is about an axis that is orthogonal to the page.

[0030] As a first example, second frame portion 112 may move from the position of FIGS. 1A or 1C to the position of FIG. IB by wheel 140 being driven in a counter-clockwise direction by motor 142. As a second example, second frame portion 112 may move from the positions of FIGS. 1A or IB to the position of FIG. 1C by wheel 140 being driven in a clockwise direction by motor 142. As a third example, second frame portion 112 may move under gravitational forces from the position of FIG. IB to the position of FIG. 1A or beyond, or from the position of FIG. 1C to the position of FIG. 1A or beyond without wheel 140 being driven by motor 142 (e.g., wheel 140 is permitted to freewheel). As a fourth example, second frame portion 112 may be held at a fixed position relative to first frame portion 110 by motor 142 resisting or inhibiting rotation of drive wheel 140. In this example, drive wheel 140 in combination with motor 142 and wheel -interface surface 144 form a brake that maintains the position of second frame portion 112 relative to first frame portion 110.

[0031] FIG. 2 depicts dynamic frame system 100 of FIG. 1 including additional furniture components that are mounted upon second frame portion 112 to provide a furniture configuration 200. In this example, furniture configuration 200 takes the form of a lounge chair having furniture components generally depicted at 210. FIG. 2 additionally depicts dynamic furniture system 100 including a control interface 220 by which a user may operate the dynamic furniture system.

[0032] FIGS. 3A and 3B depict a plan view of dynamic furniture system 100, including internal components thereof. Within FIG. 3 A, first frame portion 110 is located beneath second frame portion 112. A decking 312 that forms an upper support surface of second frame portion 112 is depicted as being partially removed to reveal components located beneath the decking in FIG. 3 A. Decking 312 may support additional furniture components that are mounted upon second frame portion 112, such as furniture components 210 of furniture configuration 200 of FIG. 2, as an example.

[0033] Within FIG. 3 A, two instances of rocker 120 previously described with reference to FIG. 1A are depicted at 120-1 and 120-2. In this example, rockers 120-1 and 120-2 are parallel to and spaced apart from each other on either side of drive wheel 140 in a lateral direction of an axis of rotation of the drive wheel. Also in this example, rockers 120-1 and 120-2 pass through notches formed in first frame portion 110, such as depicted at 320-1 and 320-2, respectively. Notches 320-1 and 320-2 may be provided to increase lateral stability of second frame portion 112 by constraining rockers 120-1 and 120-2 in the lateral direction.

[0034] Second frame portion 112 in this example, further includes a pair of guide portions 340-1 and 340-2. In at least some examples, guide portions 340-1 and 340-2 may be included to increase lateral stability and/or rigidity of second frame portion 112. In this example, guide portions 340-1 and 340-2 are parallel to and spaced apart from each other on either side of drive wheel 140 in a direction of the axis of rotation of the drive wheel. Guide portions 340-1 and 340-2 are also parallel to and spaced apart from rockers 120-1 and 120-2. Also in this example, guide portions 340- 1 and 340-2 pass through notches formed in first frame portion 110, such as depicted at 342-1 and 342-2, respectively. Notches 342-1 and 342-2 may be provided to increase lateral stability of second frame portion 112 by constraining guide portions 340-1 and 340-2 in the lateral direction.

[0035] Also within FIG. 3A, the set of rollers 130 previously described with reference to FIG. 1A includes a first subset of rollers 330-1 that interface with rocker 120-1 and a second subset of rollers 330-2 that interface with rocker 120-2. In this example, the first subset of rollers 330-1 includes rollers 132-1, 134-1, 136-1, and 138- 1 as examples of previously described rollers 132, 134, 136, and 138 of FIG. 1A, respectively. Also in this example, the second subset of rollers 330-2 includes rollers 132-2, 134-2, 136-2, and 138-2 as additional examples of previously described rollers 132, 134, 136, and 138 of FIG. 1A, respectively.

[0036] Within FIG. 3 A, drive wheel 140 interfaces with wheel-interface surface

144, which is represented by a broken line and in transparent form to reveal the drive wheel. In this example, motor 142 is mounted to a lateral support structure 310 of first frame portion 110. However, motor 142 may be mounted to other portions of first frame portion 110 in other suitable configurations.

[0037] FIGS. 3A and 3B depict an example of dynamic furniture system 100 including a set of lateral rollers 370-1, 370-2, 370-3, 370-4, etc. that limit or otherwise constrain lateral movement of rockers 120-1 and 120-2 in a direction orthogonal to the back-and-forth motion of second frame portion 112. In this example, lateral rollers 370- 1 and 370-2 interface with a side (e.g., exterior side) of rocker 120-1, and rollers interface with an opposing side (e.g., an opposing exterior side) of rocker 120-2. Lateral rollers 370-1, 370-2, 370-3, 370-4 are mounted upon first frame portion 110 and rotate about an axis (e.g., a vertical axis parallel to the gravity vector) that is orthogonal to an axis of rotation of rollers 132-138. It will be understood that a greater quantity of lateral rollers may be included. Furthermore, it will be understood that lateral rollers may be included on interior sides of rocker 120-1 and 120-2.

[0038] FIGS. 3A and 3B further depict dynamic furniture system 100 including a control system 350 that controls motor 142 and receives feedback signals from the motor as indicated schematically by arrow 352 in FIG. 3B. Within FIG. 3B, components of second frame portion 112 have been removed to provide an unobstructed view of control system 350, the set of rollers 130, and lateral support structure 310.

[0039] Control system 350 is represented schematically in FIGS. 3A and 3B mounted to lateral support structure 310 of first frame portion 110. However, control system 350 may be mounted to other portions of first frame portion 110 or alternatively to second frame portion 112 in other suitable configurations. As another example, components of control system 350 may be mounted to and distributed between first frame portion and second frame portion 112.

[0040] FIGS. 3A and 3B further depict an example sensor 390 (e.g., a Hall effect sensor) that interfaces with controller 350. Sensor 390 can detect the position of second frame portion 112, for example, by detecting the presence of a set of elements (e.g., magnets) 392-C, 392-L, 392-R, etc. mounted upon the second frame portion. In this example, the set of elements are distributed along a side of rocker 120-2 at a center position (e.g., element 392-C), and at equidistant locations on either side of the center position (e.g., elements 392-L and 392-R). Second frame portion 112 may include additional elements (e.g., magnets) in other examples, to provide increased position resolution. As described in further detail with reference to FIG. 4, sensor 390 can be used by control system 350 to measure a velocity and/or an acceleration of second frame portion 112 throughout a range of back-and-forth motion.

[0041] Referring to FIG. 3 A, in at least some examples, first frame portion 110 may feature one or more guards 150 (schematically depicted) that overhang a portion of second frame portion 112, such as rocker 120. The one or more guards 150 may inhibit or resist upward movement of second frame portion 112 relative to first frame portion 110. As an example, each of the one or more guards 150 may feature a roller that interfaces with an opposing (e.g., upper) surface of rocker 120. As another example, each of the one or more guards 150 may be located near, but not in contact with the upper surface of rocker 120.

[0042] In at least some examples, one or more brake calipers 372-1, 372-2, etc. mounted on first frame portion 110 may be positioned to apply braking force to a fin or other structure of second frame portion 112 that serves as an arc-shaped brake rotor. In the example depicted in FIGS. 3A and 3B, brake calipers 372-1 and 372-2 can apply braking force to guide portions 340-1 and 340-2, respectively. Brake calipers 372-1 and 372-2 may include a solenoid that can be electronically actuated, as an example. It will be understood that other suitable structures may be used to serve as a brake rotor, including the examples described with reference to FIGS. 3C and 3D.

[0043] FIGS. 3C and 3D depict an elevation view of example motor supports 380 and 382, respectively for motor 142. In FIG. 3C, motor support 380 takes the form of a rigid support that joins motor 142 to lateral support structure 310. In FIG. 3D, motor support 382 takes the form of one or more suspension elements (represented schematically) that enable motor 142 and wheel 140 to be translated in a direction normal to wheel -interface surface 144 with which wheel 140 interfaces. The use of suspension with respect to wheel 140 may be used to provide additional compliance, which in turn may improve torque transfer between the wheel and wheel-interface surface 144. It will be understood that in other configurations, motor 142 may be located remotely from and operatively coupled to wheel 140, such as where the motor drives an axle of the wheel via a belt, chain, gearing, or other suitable coupling. In these configurations, suspension may be provided between lateral support structure 310 and the axle of the wheel to provide additional compliance.

[0044] FIGS. 3C and 3D further depict an example in which a brake rotor 391 (represented by broken lines) may be mounted upon the motor shaft, and a brake caliper 393 may be included to facilitate braking and/or holding of the motor shaft, enabling second frame portion 112 to be selectively slowed and/or held at a particular position relative to first frame portion 110. Brake caliper 393 may include a solenoid that can be electronically actuated, as an example.

[0045] Furthermore, in at least some examples, wheel 140 may be omitted, and one or more of rollers 130 may be driven by a motor to provide back-and-forth motion of second frame portion 112. In these examples, roller-interface surface 122 also serves the function of wheel-interface surface 144 with respect to the one or more rollers. As previously described with reference to motor 142, a motor that is operatively coupled to and drives one or more of rollers 130 may take the form of a hub motor or may be remotely located from the rollers using belts, chains, or gearing to convey torque from the motor to the one or more rollers. For example, wheel 140 of FIGS. 3C and 3D may instead refer to one of rollers 130.

[0046] FIG. 4 is a schematic diagram depicting additional aspects of control system 350 of FIGS. 3 A and 3B interfacing with additional components 400 of dynamic furniture system 100. Components 400 may include one or more sensors 410, motor 142, a control interface 412 (e.g., control interface 220 of FIG. 2), one or more remote devices 414, and a set of magnets 416, as examples.

[0047] Control system 350 takes the form of an electronic control system. As an example, control system 350 includes a power subsystem 420, a logic machine 422, a storage machine 424, and an input / output subsystem 426, among other suitable components.

[0048] Power subsystem 420 receives electrical energy from a power source 402, and selectively distributes (e.g., based on control by the logic machine) the electrical energy to components of control system 350 and other components 400 of dynamic furniture system 100. As an example, power source 402 may take the form of a power receptacle, and power subsystem 420 may receive electrical energy from the power source via a power cable. As another example, power source 402 may take the form of a battery residing on-board or off-board dynamic furniture system 100. Power subsystem 420 may include an AC to DC converter, a DC to AC converter, a voltage converter (to increase or decrease voltage), a current converter (to increase or decrease current), a power conditioner (e.g., a filter and/or buffer), a set of circuit breakers or fuses, and other suitable components for processing electrical energy received from power source 402 to a form suitable for components of control system 350 and other components 400.

[0049] Logic machine 422 includes one or more logic devices (e.g., computer processors and/or logic circuits) programmed with instructions (e.g., instructions 428) to perform the methods or operations described herein. Storage machine 424 includes one or more data storage devices having instructions 428 stored thereon that are executable by logic machine 422 to perform the methods or operations described herein. Storage machine 424 may have other data 430 stored thereon, such as user settings, as an example. In at least some examples, logic machine 422 and storage machine 424 may be integrated into a shared device or combination of two or more shared devices.

[0050] Control system 350 may interface with other components 400 via input / output subsystem 426 for purposes of communication with and/or providing power to other components 400, including sensors 410, motor 142, control interface 412, and remote devices 414. Communications between control system 350 and other components 400 may be over a wired and/or wireless link using any suitable communications protocol (e.g., Bluetooth, Wi-Fi, TCP-IP, etc.).

[0051] Sensors 410 may receive electrical energy from control system 350 and communicate to provide sensor signals to control system 350 via input / output subsystem 426. Sensors 410, for example, may include one or more sensors (e.g., 390) that enable control system 350 to determine a position of second frame portion 112 relative to first frame portion 110. Communications between control system 350 and sensors 410 may be over a wired or wireless link, and may use any suitable communications protocol. In the case of wireless communications, input / output subsystem 426 may include a wireless transceiver, transmitter, and/or receiver.

[0052] As an example, sensors 410 may refer to sensor 390 of FIGS. 3 A and 3b, and may include a Hall effect sensor that measures or otherwise detects magnetic interaction with the set of magnets 416 of which magnet 418 is an example. The set of magnets 416 may refer to elements 392-C, 392-L, 392R of FIG. 3A. For example, the set of magnets 416 may be mounted upon and distributed along second frame portion 112 (e.g., along rocker 120-1 or 120-2) in a dimension that corresponds to a dimension of motion of the second frame portion relative to first frame portion 110, and the Hall effect sensor may be mounted upon the first frame portion. As each magnet of the set of magnets 416 passes within a threshold proximity to the Hall effect sensor, the Hall effect sensor measures or otherwise detects the magnetic interaction with that magnet, which is communicated as a sensor signal to control system 350. Control system 350 can detect a position of second frame portion 112 relative to first frame portion 110 based on these sensor signals received from the Hall effect sensor, and may determine the velocity and/or acceleration based on the change of position of second frame portion 112 over a period of time.

[0053] In at least some examples, each magnet of the set of magnets 416 may have a polarity that is orientated along a direction of travel of second frame portion 112, enabling the Hall effect sensor to be used to determine whether the location of the Hall effect sensor is on a first side (e.g., right side) or a second side (e.g., left side) of each magnet. Thus, according to a configuration of magnets that corresponds to elements 392-C, 392-L, and 392R, control system 350 can determine: (1) whether second frame portion 112 is right of center or left of center based on interaction between the Hall effect sensor and element 392-C, (2) whether the location of the Hall effect sensor is extended beyond the location of element 392-L relative to center, and (3) whether the location of the Hall effect sensor is extended beyond the location of element 392-R relative to center. By positioning elements 392-L and 392-R at suitable locations corresponding to threshold peak positions of back-and-forth motion of second frame portion 112 relative to first frame portion 110, control system 350 can limit motor torque to avoid significantly overshooting those threshold peak positions. For example, upon detecting that the location of the Hall effect center is extended beyond the location of either of elements 392-R or 392-L, control system 350 may reduce motor torque over one or more cycles to reduce the peak left and right positions of the back-and-forth motion. [0054] While a Hall effect sensor is described in the preceding example to determine a position of the second frame portion, in another example, sensors 410 may include an optical sensor that detects the presence of optically detectable features distributed along second frame portion 112 in a dimension that corresponds to a dimension of motion of the second frame portion relative to first frame portion 110. Furthermore, while sensors 410 are described as being mounted upon first frame portion 110, it will be understood that at least some of sensors 410 may be mounted upon second frame portion 112. In this example, the set of magnets 416 and/or optically detectable features may be mounted upon and distributed along first frame portion 110 in a dimension that corresponds to a dimension of motion of second frame portion 112 relative to the first frame portion.

[0055] Sensors 410 may include additional sensors, such as accelerometers, inclinometers, etc. located on-board first frame portion 110 and/or second frame portion 112 that enables control system 350 to determine whether first frame portion 110 is level or inclined relative to level, and to determine an orientation of second frame portion 112 relative to first frame portion 110 and/or a target orientation. Control system 350 may engage motor control functions responsive to these and other sensors. [0056] Motor 142 may receive electrical energy from and/or control signals from control system 350, and motor 142 may provide sensor signals to control system 350 via input / output subsystem 426. Within FIG. 4, motor 142 is schematically represented. Motor 142 includes a motor shaft 440 and an encoder 442 that can measure a rotational position, velocity, and/or acceleration of motor shaft 440. As an example drive wheel 140 can be mounted to or otherwise operatively coupled to motor shaft 440 of motor 142. FIG. 4 schematically depicts drive wheel 140 described herein or one or more rollers 132, 134, 136, and 138 described herein at 443. As another example, one or more of rollers 132-1, 132-2, 134-1, 134-2, 136-1, 136-2, 138-1, and/or 138-2 can be mounted to or otherwise operatively coupled to motor shaft 440. In at least some examples, a motor shaft 440 can be operatively coupled to the drive wheel or the one or more rollers via a transmission depicted schematically at 441. Furthermore, in at least some examples, motor 142 is one of a plurality of motors of the dynamic furniture system in which each motor is operatively coupled to a respective roller of the set of rollers.

[0057] Control system 350 can receive the measurement of rotational position, velocity, and/or acceleration of motor shaft 440 measured by encoder 442. In configurations where encoder 442 measures rotational position of motor shaft 440, control system 350 may compute the rotational velocity (e.g., speed and direction) and/or acceleration of motor shaft 440 based on an observed rate of change of rotational position over time. Measurements of rotational position, velocity, and/or acceleration of motor shaft 440 may be used by control system 350 as feedback for purposes of controlling torque output by motor 142 via motor shaft 440.

[0058] In at least some examples, control system 350 may reset (e.g., zero) an encoder value representing rotational position of motor shaft 440 as measured by encoder 442 upon determining that second frame portion 112 is located at center (e.g., via the Hall effect sensor interacting with element 392-C positioned at center. This approach may be used to address drift in the encoder value measured by encoder 442 over time, including drift arising from slip between the drive wheel and the second frame portion.

[0059] Control system 350 may control operation of motor 142 by varying the electrical energy (e.g., power) and/or control signals provided to motor 142. Power supplied to motor 142 may be varied by current and/or voltage modulation, depending on motor type. Communications between control system 350 and motor 142 may be over a wired and/or wireless link, and may use any suitable communications protocol. In the case of wireless communications, input / output subsystem 426 may include a wireless transceiver, transmitter, and/or receiver.

[0060] As an illustrative example, motor 142 may take the form of a brushless DC electric motor that is configured as an outrunner- style motor. Motor 142 may feature high torque, low rpm performance characteristics, as an example. A primary driver programming implemented by control system 350 may use FOC (field-oriented control) for smooth operation of motor 142. However, it will be understood that other suitable driver controls and/or motors (e.g., a stepper motor) may be used.

[0061] Control interface 412 may receive electrical energy from control system 350 and communicate with the control system via input / output subsystem 426. Control interface 220 of FIG. 2 is an example of control interface 412. However, it will be understood that control interface 412 may include additional or alternative control interfaces that are mounted to first frame portion 110, second frame portion 112, and/or located off-board or remote from dynamic furniture system 100 (e.g., remote devices 414). Communications between control system 350 and control interface 412 may be over a wired and/or wireless link, and may use any suitable communications protocol. In the case of wireless communications, input / output subsystem 426 may include a wireless transceiver, transmitter, and/or receiver.

[0062] Remote devices 414 may communicate with control system 350 via input / output subsystem 426. As an example, remote devices 414 may include an off- board computing device, an off-board control interface, or other suitable device. Communications between control system 350 and remote devices 414 may be over a wired and/or wireless link, and may use any suitable communications protocol. In the case of wireless communications, input / output subsystem 426 may include a wireless transceiver, transmitter, and/or receiver.

[0063] In at least some examples, control interface 412 and/or remote devices 414 may be used to enable a user to control operation of the dynamic furniture system via interaction with control system 350. Such control may include user selection of an operating mode (e.g., as discussed with reference to FIGS. 5A - 5D) and a magnitude of the back-and-forth motion of second frame portion 112 relative to first frame portion 110. As an example, a user input prescribing a particular magnitude of the back-and- forth motion may be interpreted by control system 350 as defining a target velocity of second frame portion 112 relative to first frame portion 110 at a reference position, such as at center (e.g., corresponding to the location of element 392C and sensor 390 in FIG. 3A).

[0064] FIG. 4 additionally depicts control system 350 interfacing with brake calipers 372-1, 372-2, and 393. Control system 350 may selectively engage one or more of the brake calipers to slow motion of second frame portion 112 and/or hold second frame portion at a particular position relative to first frame portion 110. In at least some examples, brake calipers 372-1, 372-2, etc. that engage directly with a feature of second frame portion 112 may provide superior braking and position holding as compared to brake caliper 393 that performs braking via a drive wheel interfacing with the second frame portion through a friction interface.

[0065] In the preceding examples, a braking function can be provided by one or more brake calipers. Additionally or alternatively, one or more lift actuators 490 can be included on the dynamic furniture systems disclosed herein to provide or otherwise enable a braking function. As described in further detail, FIGS. 7 A, 7B, and 9 depict example locations of lift actuators 490. Control system 350 can operate lift actuators 490 to extend or retract under specified conditions, as described in further detail herein. As an example, control interface 412 (e.g., control interface 220 of FIG. 2) or one or more remote devices 414 can be operated by a user to extend and retract lift actuators

490.

[0066] FIGS. 5A, 5B, 5C, and 5D is a flow diagram depicting an example method 500 for a dynamic furniture system, such as dynamic furniture system 100. As an example, method 500 and operations thereof may be performed by control system 350, previously described with reference to FIGS. 3A, 3B, and 4. Logic machine 422 may execute instructions 428 to perform method 500 or operations thereof, as an example.

[0067] At operation 510, the dynamic furniture system is powered on (e.g., by a user). At operation 512, initialization of the dynamic furniture system may be performed. As part of initialization, power may be distributed to components of the dynamic furniture system at 514; hardware and other variables may be initialized at 516; communication may be started between components at 518; and component parameters may be set at 520.

[0068] At 522, it may be judged whether initialization at 512 was a success. If initialization was not a success, fault detection may be performed at 526. If initialization was a success, calibration may be performed at 524.

[0069] At operation 524, calibration of the dynamic furniture system may be performed. As part of calibration, the motor may be operated (e.g., slowly) to move the second frame portion (e.g., second frame portion 112) through a range of motion to left- of-center and right-of-center limits, and to the center, and the dynamic furniture system may be monitored for faults at 530. [0070] At 532, it may be judged whether calibration at 524 was a success. If calibration was not a success (e.g., based on monitoring for faults at 530), fault detection may be performed at 526. If calibration was a success, a mode of operation of the dynamic furniture system may be set at 534 responsive to a mode selection received at 536.

[0071] In at least some examples, the dynamic furniture system may support a plurality of modes of operation, including a run mode 540, a free mode 550, and a lock mode 560. These modes of operation may be selectively performed responsive to (1) mode selections received at 536, including user-defined changes to a target motion state, (2) detected changes in motion exceeding a threshold (e.g., due to changes in an amount and/or positioning of mass supported by the second frame portion) relative to the target motion state, and/or faults detected at 526 through fault monitoring. Lock mode 560 can be performed responsive to a user input and/or during times when the dynamic furniture system is not operated to provide back-and-forth motion.

[0072] The mode selection received at 536 (e.g., via control interface 412 and/or remote devices 414) may indicate one of run mode 540, free mode 550, and lock mode 560. Additionally, within the context of run mode 540, the mode selection received at 536 may indicate a magnitude of the peak position of the back-and-forth motion of the second frame portion in either direction. As an example, a user may select between two or more different magnitudes of back-and-forth motion. Alternatively or additionally, a user may select a target motion state (e.g., a target velocity profile). In at least some examples, the magnitude of back-and-forth motion and/or target motion state may be continuously variable across a range by a user interface element of control interface 412 and/or remote devices 414. [0073] During run mode 540, motor 142 is selectively operated to move second frame portion 112 back-and-forth, in periodic motion, relative to first frame portion 110 to attain and maintain a target motion state. In at least some examples, the control system may control operation of the motor based on velocity, such as may be measured by an encoder associated with the motor. For example, the target motion state may take the form of a velocity profile across the range of back-and-forth motion of the second frame portion. In this example, the velocity profile may define a target velocity at a center point corresponding to element 392-C and sensor 390 of FIG. 3 A, enabling the control system to determine that second frame portion 112 is currently at or transitioning through the center point during back-and-forth motion. As previously described, the back-and-forth motion may simulate motion of an ideal fixed length pendulum, which has a constant period and frequency of back-and-forth motion. In this configuration, the velocity profile selected for a given motion state may correspond to a theoretical velocity profile of an ideal pendulum of a given amplitude of back-and- forth motion.

[0074] In at least some examples, run mode 540 may include a ramp-up phase 542, a steady state phase 544, and a ramp-down phase 546.

[0075] During ramp-up phase 542, a magnitude of a peak position of the back- and-forth motion of second frame portion 112 in each direction may be increased over a period of time through control of motor 142. As an example, the periodic back-and- forth motion of second frame portion 112 may have a peak position in left-of-center and right-of-center positions that increases over time, while the period and frequency of the back-and-forth motion may be constant or substantially constant to simulate motion of the fixed length pendulum. [0076] Referring also to FIG. 5B, as part of ramp-up phase 542, the method may include determining an initial motion state (e.g., a current velocity at center or other reference position for each direction of motion) of the second frame portion at 570; determining a target motion state (e.g., a target velocity at center or other reference position for each direction of motion) of the second frame portion at 571; and driving back-and-forth motion of the second frame portion from the initial motion state to the target motion state by operation of the motor using an increasing torque function at 572. As part of operation 572, a torque command for the motor may be determined, for example, by applying proportional-integral-derivative (PID) feedback control at 573 (e.g., using velocity at center or other reference position as feedback). Within the PID feedback control, motor torque may be measured and used to seed the feedforward torque value at 574. At 575, the process flow may transition to steady state phase 544 upon attaining the target motion state.

[0077] During steady state phase 542, the periodic back-and-forth motion of the second frame portion may have a peak position in left-of-center and right-of-center positions that is constant or substantially constant over time, and the period and frequency of the back-and-forth motion may be constant and equal to ramp-up phase 542 to thereby simulate motion of the fixed length pendulum. Furthermore, during steady state phase 542, the velocity at center may controlled to be the same for each direction of back-and-forth motion to thereby account for a variety of weight distributions upon second frame portion 112 and/or first frame portion being supported upon an inclined surface. This approach may be used to maintain back-and-forth motion of second frame portion 112 that is generally centered about center.

[0078] Referring also to FIG. 5C, as part of steady state phase 544, the method may include determining an initial motion state (e.g., a current velocity at center or other reference position) of the second frame portion at 577; determining the target motion state (e.g., a target velocity at center or other reference position) of the second frame portion at 578; at 579, applying a constant feedforward torque value (e.g., within the PID feedback control) with corrections from application of the PID feedback control; and adjusting the feedforward torque value at 580, if the target motion state is not attained (e.g., based on measured velocity at center or other reference position) for each direction of back-and-forth motion of the second frame portion. As an example, current velocity at center or other reference position may be compared to the target velocity at center or the other reference position, and motor torque may be adjusted to reduce a difference between the target velocity and the current velocity.

[0079] At 581, the process flow may transition to ramp-up phase 542 responsive to an increase in the target motion state (e.g., based on the mode selection received at 536) and/or a threshold decrease in motion caused by increased mass being supported by the second frame portion or repositioning of mass. At 582, the process flow may transition to ramp-down phase 546 (or alternatively to free mode 550) responsive to a decrease in the target motion state (e.g., based on the mode selection received at 536) and/or a threshold increase in motion caused by decreased mass being supported by the second frame portion or repositioned mass.

[0080] During ramp-down phase 546, a magnitude of a peak position of the back-and-forth motion of the second frame portion in each direction decreases over a period of time through control of motor 142 and/or brake calipers 372-1, 372-2, 393, etc. During ramp-down phase 546, the periodic back-and-forth motion may have a peak position in left-of-center and right-of-center positions that decreases over time, while the period and frequency of the back-and-forth motion may be constant and equal to steady state phase 544 and to ramp-up phase 544 to thereby simulate motion of the fixed length pendulum. In this example, motor 142 may be operated to reduce or minimize negative torque transfer to second frame portion 112 that would otherwise be caused by rotation of the motor and/or drive wheel 140. For example, a relatively small torque may be applied by the motor in the direction of travel of the second frame portion that reduces or minimizes negative torque transfer. Alternatively or additionally, brake calipers 372-1, 372-2, 393, etc. may be engaged to slow the motion of second frame portion 112 relative to first frame portion 110. However, in at least some examples, ramp-down phase 546 may be omitted and/or replaced by free mode 550.

[0081] Referring also to FIG. 5D, as part of ramp-down phase 546, the initial motion state (e.g., current velocity at center or other reference position) of the second frame portion may be determined at 584; the target motion state (e.g., target velocity at center or other reference position) of the second frame portion may be determined at 585; and torque of the motor may be adjusted at 586 to reduce or eliminated negative torque until the target motion state is attained. Alternatively, free mode 550 may be performed until the target motion state is attained. At 587, the process flow may transition to steady state phase 544 upon attaining the target motion state.

[0082] Referring again to FIG. 5 A, during run mode 540, the dynamic furniture system may be monitored for faults at 548, and fault detection at 526 may be performed to address faults.

[0083] During free mode 550, second frame portion 112 is permitted to freely move back-and-forth at 552 without the addition of torque input by motor 142. In this example, motor 142 may be passively operated (e.g., free-wheel) at 552. During free mode 550, the dynamic furniture system may be monitored for faults at 554, and fault detection at 526 may be performed to address faults. [0084] During lock mode 560, second frame portion 112 is held at a fixed position relative to first frame portion 110. This fixed position may be maintained by operating motor 142 to provide a positive torque on second fame portion 112 via drive wheel 140 that inhibits or resists movement of the second frame portion relative to the first frame portion. As part of operation 560, the motor may be operated (e.g., slowly) until zero current is reached at 562, and the motor may be operated (e.g., slowly) to return and maintain the position of second frame portion 112 back to a target encoder value at 564, which can correspond to a defined rest position of second frame portion 112. Additionally or alternatively, brake calipers 372-1, 372-2, 393, etc. may be engaged at 565 to hold second frame portion 112 at a fixed position relative to first frame portion 110. Additionally or alternatively, one or more of lift actuators 490 can be operated (extended or otherwise engaged) to retain second frame portion 112 at a fixed position relative to first frame portion 110 at 565. At 566, monitoring for faults can be performed, and fault detection at 526 may be performed to address faults.

[0085] As part of fault detection at 526, the method may include, at 556, performing lock mode 560, and moving the second frame portion to the center position or target encoder value by operating the motor (e.g., slowly). Lock mode 560 may be reestablished upon reaching the center position or other target position in at least some examples. Additional monitoring may be performed at 526 to determine whether the fault persist, and if so, lock mode 560 may be maintained at the center position. If the fault has been cleared, the process flow may proceed to operation 534 where the operating mode may be set based on the mode selection received at 536.

[0086] FIGS. 6A, 6B, and 6C are graphs depicting example relationships between a position (thick solid line) of second frame portion 112 of FIG. 1 A and torque (thin solid line) provided by motor 142 of FIG. 1 A over time. [0087] FIG. 6A depicts the position of second frame portion 112 over time during steady state back-and-forth motion. In this example, the back-and-forth motion is periodic, and simulates a fixed length pendulum having a constant or substantially constant period and constant or substantially constant frequency. Thus, in this example, the line identifying the position of second frame portion 112 is represented by a sinusoidal wave having a peak position 610 in a left-of-center (LOC) direction (e.g., FIG. IB), a center position 612 (e.g., FIG. 1A), and a peak position 614 in a right-of- center (ROC) direction (e.g., FIG. 1C) that are repeated over a plurality of cycles. For example, each instance of second frame portion 112 attaining peak position 610 in the LOC direction is indicated at 610-1, 610-2, 610-3, etc.; each instance of the second frame portion attaining center position 612 is indicated 612-1, 612-2, 612-3, 612-4, 612-5, 612-6, 612-7, etc.; and each instance of the second frame portion attaining peak position 614 in the ROC direction is indicated at 614-1, 614-2, 614-3, etc.

[0088] FIG. 6A further depicts motion control provided to the dynamic furniture system through torque output by motor 142 being varied over time. The motor is operated to induce back-and-forth motion of second frame portion 112 by torque transfer from rotation of drive wheel 140 along wheel-interface surface 144 to the second frame portion. In this example, torque output by the motor as shown in FIGS. 1A, IB, and 1C is in the clockwise (CW) direction as the second frame portion is traveling from LOC to ROC, and torque output by the motor is in the counter-clockwise (CCW) direction as the frame portion is traveling from ROC to LOC. As the second frame portion is transitioning through a desired peak position in the LOC direction, torque output by the motor in the CCW direction is transitioned to the CW direction. Conversely, as the second frame portion is transitioning through a desired peak position in the ROC direction, torque output by the motor in the CW direction is transitioned to the CCW direction.

[0089] In the example of FIG. 6 A, the line representing the torque output by the motor has a peak torque 620 in the CW direction, a zero torque 622, and a peak torque 624 in the CCW direction that are repeated over a plurality of cycles. It will be understood that within FIG. 6A, the magnitude of torque on the right side of the graph has been scaled to the magnitude of position on the left side of the graph for purposes of illustration.

[0090] Further, in this example, peak torque 620 in the CW direction corresponds in time to transition of the second frame portion through center position 612 when traveling from peak position 610 in the LOC direction toward peak position 614 in the ROC direction. Peak torque 624 in the CCW direction corresponds in time to transition of the second frame portion through center position 612 of second frame portion 112 when traveling from peak position 614 in the ROC direction toward peak position 610 in the LOC direction. Zero torque 622 corresponds in time to peak position 610 and to peak position 614. Within FIG. 6A, each instance of peak torque 620 in the CW direction is indicated at 620-1, 620-2, 620-3, etc.; each instance of zero torque 622 is indicated at 622-1, 622-2, 622-3, 622-4, 622-5, 622-6, etc.; and each instance of peak torque 624 in the CCW direction is indicated at 624-1, 624-2, 624-3, 624-4, etc.

[0091] In at least some examples, torque output by the motor may be varied according to a wave function that seeks to reduce the sensation of torque being added by the motor on users of the dynamic furniture system. As an example, the wave function may take the form of a modified square wave, such as shown in FIG. 6A, in which corners of the modified square wave are rounded (e.g., via a Fournier Rounding function). The degree of rounding of corners of the square wave may be selected by developers of the dynamic furniture system to provide a suitable user experience that reduces or even minimizes the sensation of torque being added by the motor. While a modified square wave is depicted in FIG. 6A, it will be understood that other suitable wave functions may be used, including wave functions having a sinusoidal shape that is offset from and lags the sinusoidal wave of position of the second frame portion by approximately 90 degrees.

[0092] FIG. 6B depicts the position of second frame portion 112 over time during steady state back-and-forth motion that is periodic, and that again simulates the fixed length pendulum having the same or substantially the same constant period and the same or substantially the same constant frequency as FIG. 6A. In contrast to FIG. 6A, peak position 630 in the LOC direction in FIG. 6B is less than peak position 610, and peak position 634 in the ROC direction in FIG. 6B is less than peak position 614. While the peak position is reduced in FIG. 6B compared to FIG. 6A, the period and frequency of back-and-forth motion in this example is the same or substantially the same in both FIG. 6A and 6B, thereby simulating back-and-forth motion of an ideal, fixed length pendulum. Within FIG. 6B, the torque output by the motor has a peak torque 640 in the CW direction and a peak torque 644 in the CCW direction, and this torque has again been scaled to position for purposes of illustration. The torque output by the motor is again varied according to a wave function that seeks to reduce the sensation of added torque on users of the dynamic furniture system, while maintaining the back-and-forth motion of second frame portion 112. FIG. 6B shows an example in which the peak torque is less than the peak torque of FIG. 6A to provide peak position that is less than the peak position of FIG. 6A.

[0093] FIG. 6C depicts the position of second frame portion 112 over time during a ramp-up phase of back-and-forth motion in which a magnitude of the peak position increases over time, as indicated by peak position in the LOC direction at 650, 652, 654, etc. In this example, second frame portion 112 again simulates the fixed length pendulum having the same or substantially the same constant period and constant frequency as FIGS. 6 A and 6B. However, relative to FIGS. 6 A and 6B, the time scale of FIG. 6C has been compressed to show additional cycles of the back-and-forth motion of second frame portion 112. Also within FIG. 6C, the torque output by the motor is varied according to a wave function that increases in magnitude over time and that seeks to reduce the sensation of added torque on users of the dynamic furniture system, while increasing the magnitude of peak position of the back-and-forth motion of second frame portion 112 over time. As an example, a first peak torque 660 in the CW direction at a first time is increased to a second peak torque 662 in the CW direction at a second time within FIG. 6C.

[0094] FIG. 7A depicts another example of previously described dynamic furniture system 100, identified in FIG. 7A as dynamic furniture system 100-7. In this example, dynamic furniture system 100-7 omits rollers 134-1, 134-2, 136-1, and 136- 2. Dynamic furniture system 100-7 includes a tab 712-1 that is mounted to or forms part of rocker 120-1. As depicted in FIG. 8A, tab 712-1 is accommodated by a slot 810- 1 within which tab 712-1 can travel back-and-forth during back-and-forth motion of second frame portion 112 relative to first frame portion 110. FIG. 9 depicts another tab 712-2 that is accommodated by another slot 810-2 within which tab 712-2 can travel back-and-forth during back-and-forth motion of second frame portion 712 relative to first frame portion 110. Tab 712-2 is mounted to or forms part of rocker 120-2. Slots 810-1 and 810-2 can define an arc segment of a circle, as an example.

[0095] Dynamic furniture system 100-7 further includes lift actuators 490- 1 and

490-2 depicted in FIGS. 7A, 7B, and 9, and lift actuators 490-3 and 490-4 depicted in FIG. 9. Lift actuators 490-1, 490-2, 490-3, and 490-4 are mounted to first frame portion 110 in this example. Lift actuators 490-1, 490-2, 490-3, and 490-4 include respective actuator elements 790-1, 790-2, 790-3, and 790-4 that are operable by control system 350 to extend as shown in FIG. 7B and retract as shown in FIG. 7A. When extended, actuator elements 790-1 and 790-2 interface with rocker 120-1 to lift rocker 120-1 from rollers 132-1 and 138-1, and actuator elements 790-3, and 790-4 interface with rocker 120-2 to lift rocker 120-2 from rollers 132-2 and 138-2. Furthermore, as shown in FIG. 7B, when actuator elements 790-1, 790-2, 790-3, and 790-4 are extended, wheelinterface surface 144 is moved out of contact with drive wheel 140. As depicted in FIGS. 7B and 8B, when rocker 120-1 is lifted from rollers 132-1 and 138-1, and rocker 120-2 is lifted from rollers 132-2 and 138-2, tabs 712-1 and 712-2 interface with surfaces (e.g., 814-1 in FIGS. 8 A and 8B) of slots 810-1 and 810-2 of first frame portion 710 to inhibit back-and-forth motion of second frame portion 712 relative to first frame portion 710. In some examples, these surfaces of slots 810-1 and 810-2 can each be formed by a guard element that is mounted to first frame portion 110, an example of which is depicted in FIGS. 8A and 8B at 812-1. The guard elements can be formed from a metal in at least some examples. Actuator elements 790-1, 790-2, 790-3, and 790-4 can be extended during lock mode 560, and retracted during run mode 540 and free mode 550, as examples.

[0096] As shown in FIG. 9, slots 810-1 and 810-2 can be centrally located and extend only a portion of a length of first frame portion 110 in a direction corresponding to back-and-forth motion of second frame portion 112. Keyways 910-1 and 910-2 can be formed in an end of slots 810-1 and 810-2 that accommodate tabs 712-1 and 712-2 when moved vertically (into and out of the page in FIG. 9), enabling second frame portion 112 to be installed on or removed from first frame portion 110. [0097] The methods and operations described herein may be tied to a control system, such as example control system 350. In particular, such methods and operations may be implemented as a computer program. The control system can take the form of a computing device or a computing system of one or more computing devices, as examples.

[0098] Previously described FIG. 4 schematically shows control system 350 that can enact one or more of the methods and operations described herein in simplified form. Logic machine 422 includes one or more physical devices configured to execute instructions. For example, the logic machine may be configured to execute instructions that are part of one or more applications, services, programs, routines, libraries, objects, components, data structures, or other logical constructs. Such instructions may be implemented to perform a task, implement a data type, transform the state of one or more components, achieve a technical effect, or otherwise arrive at a desired result.

[0099] The logic machine may include one or more processors configured to execute software instructions. Additionally or alternatively, the logic machine may include one or more hardware or firmware logic machines configured to execute hardware or firmware instructions. Processors of the logic machine may be single-core or multi-core, and the instructions executed thereon may be configured for sequential, parallel, and/or distributed processing. Individual components of the logic machine optionally may be distributed among two or more separate devices, which may be remotely located and/or configured for coordinated processing. Aspects of the logic machine may be virtualized and executed by remotely accessible, networked computing devices configured in a cloud-computing configuration.

[00100] Storage machine 424 includes one or more physical devices configured to hold instructions (e.g., 428) executable by the logic machine to implement the methods and processes described herein. When such methods and operations are implemented, the state of storage machine 424 may be transformed — e.g., to hold different data.

[00101] Storage machine 424 may include removable and/or built-in devices. Storage machine 424 may include optical memory (e.g., CD, DVD, HD-DVD, Blu-Ray Disc, etc.), semiconductor memory (e.g., RAM, EPROM, EEPROM, etc.), and/or magnetic memory (e.g., hard-disk drive, floppy-disk drive, tape drive, MRAM, etc.), among others. Storage machine 424 may include volatile, nonvolatile, dynamic, static, read/write, read-only, random-access, sequential-access, location-addressable, file- addressable, and/or content-addressable devices.

[00102] It will be appreciated that storage machine 424 includes one or more physical devices. However, aspects of the instructions described herein alternatively may be propagated by a communication medium (e.g., an electromagnetic signal, an optical signal, etc.) that is not held by a physical device for a finite duration.

[00103] Aspects of logic machine 422 and storage machine 424 may be integrated together into one or more hardware-logic components. Such hardware-logic components may include field-programmable gate arrays (FPGAs), program- and application-specific integrated circuits (PASIC / ASICs), program- and applicationspecific standard products (PSSP / ASSPs), system-on-a-chip (SOC), and complex programmable logic devices (CPLDs), for example.

[00104] In at least some examples, I / O subsystem 426 may enable control system 350, including logic machine 422 to communicate with one or more remote computing devices over a wired or wireless communications network (e.g., the Internet). As an example, information can be uploaded to a remote server system (e.g., a cloud server) over a wireless link (e.g., Wi-Fi, cellular, etc.) to enable off-site data monitoring and analysis. This information can be used for off-system analysis and can be used to provide instructions (e.g., updates or commands) back to control system 350, including logic machine 422 and/or storage machine 424 to adjust operation and behavior of the dynamic furniture system.

[00105] According to a disclosed example, a dynamic furniture system comprises: a first frame portion; a set of rollers mounted to the first frame portion; a second frame portion including one or more rockers, each of the one or more rockers defining a roller-interface surface having a curved profile; wherein the set of rollers interface with the roller-interface surface of each of the one or more rockers such that the second frame portion is moveable relative to the first frame portion by rotation of the set of rollers along each roller-interface surface; an electric motor mounted to the first frame portion; a drive wheel operatively coupled to a rotational output element of the electric motor, the drive wheel interfacing with a wheel-interface surface of the second frame portion; and an electronic control system interfacing electrically with the electric motor, the electronic control system configured to: provide motion control for the dynamic furniture system by varying a parameter of electrical energy supplied to the electric motor over time to induce back-and-forth motion of the second frame portion relative to the first frame portion by torque transfer from rotation of the drive wheel along the wheel-interface surface to the second frame portion.

[00106] In this example or other examples disclosed herein, the drive wheel can include a first set of teeth that mesh with a second set of teeth of a rack or a track of the wheel-interface surface.

[00107] In this example or other examples disclosed herein, the electronic control system is configured to provide motion control by varying the parameter of electrical energy supplied to the electric motor responsive to a velocity of the second frame portion relative to the first frame portion at a reference position of the second frame portion.

[00108] In this example or other examples disclosed herein, the reference position is a center position of the dynamic furniture system; and wherein the parameter of electrical energy supplied to the electric motor is varied to achieve a first velocity of the second frame portion at the reference position in a first direction of the back-and- forth motion that is the same as a second velocity of the second frame portion at the reference position in a second direction of the back-and-forth motion.

[00109] In this example or other examples disclosed herein, the parameter of the electrical energy includes a current and a voltage.

[00110] In this example or other examples disclosed herein, the parameter of the electrical energy includes a current.

[00111] In this example or other examples disclosed herein, the parameter of the electrical energy includes a voltage.

[00112] In this example or other examples disclosed herein, the dynamic furniture system can further comprise a plurality of lift actuators mounted to the first frame portion, the plurality of lift actuators operable by the electronic control system to lift the one or more rockers from the set of rollers.

[00113] In this example or other examples disclosed herein, the dynamic furniture system can further comprise a tab mounted to a rocker of the one or more rockers; wherein the first frame portion defines a channel that accommodates the tab; and wherein the tab contacts a surface of the first frame portion when the one or more rockers are lifted from the set of rollers. [00114] In this example or other examples disclosed herein, the tab contacting the surface of the first frame portion provides a braking function for the second frame portion relative to the first frame portion.

[00115] In this example or other examples disclosed herein, the curved profile is an arc segment of a circle.

[00116] According to another disclosed example, a dynamic furniture system comprises: a first frame portion; a set of rollers mounted to the first frame portion; a second frame portion including one or more rockers, each of the one or more rockers defining a roller-interface surface having a curved profile; wherein the set of rollers interface with the roller-interface surface of each of the one or more rockers such that the second frame portion is moveable relative to the first frame portion by rotation of the set of rollers along each roller-interface surface; an electric motor mounted to the first frame portion, wherein at least one roller of the set of rollers is operatively coupled to a rotational output element of the electric motor; and an electronic control system interfacing electrically with the electric motor, the electronic control system configured to: provide motion control for the dynamic furniture system by varying a parameter of electrical energy supplied to the electric motor over time to induce back-and-forth motion of the second frame portion relative to the first frame portion by torque transfer from rotation of the at least one roller along the roller-interface surface to the second frame portion.

[00117] In this example or other examples disclosed herein, the drive wheel can include a first set of teeth that mesh with a second set of teeth of a rack or a track of the wheel-interface surface.

[00118] In this example or other examples disclosed herein, the electronic control system is configured to provide motion control by varying the parameter of electrical energy supplied to the electric motor responsive to a velocity of the second frame portion relative to the first frame portion at a reference position of the second frame portion.

[00119] In this example or other examples disclosed herein, the reference position is a center position of the dynamic furniture system; and wherein the parameter of electrical energy supplied to the electric motor is varied to achieve a first velocity of the second frame portion at the reference position in a first direction of the back-and- forth motion that is the same as a second velocity of the second frame portion at the reference position in a second direction of the back-and-forth motion.

[00120] In this example or other examples disclosed herein, the parameter of the electrical energy includes one or more of a current and/or a voltage.

[00121] In this example or other examples disclosed herein, the dynamic furniture system can further comprise a plurality of lift actuators mounted to the first frame portion, the plurality of lift actuators operable by the electronic control system to lift the one or more rockers from the set of rollers.

[00122] In this example or other examples disclosed herein, the dynamic furniture system can further comprise a tab mounted to a rocker of the one or more rockers; wherein the first frame portion defines a channel that accommodates the tab; and wherein the tab contacts a surface of the first frame portion when the one or more rockers are lifted from the set of rollers.

[00123] In this example or other examples disclosed herein, the tab contacting the surface of the first frame portion provides a braking function for the second frame portion relative to the first frame portion.

[00124] In this example or other examples disclosed herein, the curved profile is an arc segment of a circle. [00125] According to another disclosed example, a method comprises performing any of the steps, routines, functions, operations, acts, and approaches disclosed herein with respect to the control system of a dynamic furniture system.

[00126] It will be understood that the configurations and/or approaches described herein are exemplary in nature, and that these specific embodiments or examples are not to be considered in a limiting sense, because numerous variations are possible. The specific routines or methods described herein may represent one or more of any number of processing strategies. As such, various acts illustrated and/or described may be performed in the sequence illustrated and/or described, in other sequences, in parallel, or omitted. Likewise, the order of the above-described processes may be changed.

[00127] The subject matter of the present disclosure includes all novel and non- obvious combinations and sub-combinations of the various processes, systems and configurations, and other features, functions, acts, and/or properties disclosed herein, as well as any and all equivalents thereof.

Claims

CLAIMS:

1. A dynamic furniture system, comprising: a first frame portion; a set of rollers mounted to the first frame portion; a second frame portion including one or more rockers, each of the one or more rockers defining a roller-interface surface having a curved profile; wherein the set of rollers interface with the roller-interface surface of each of the one or more rockers such that the second frame portion is moveable relative to the first frame portion by rotation of the set of rollers along each roller-interface surface; an electric motor mounted to the first frame portion; a drive wheel operatively coupled to a rotational output element of the electric motor, the drive wheel interfacing with a wheel-interface surface of the second frame portion; and an electronic control system interfacing electrically with the electric motor, the electronic control system configured to: provide motion control for the dynamic furniture system by varying a parameter of electrical energy supplied to the electric motor over time to induce back- and-forth motion of the second frame portion relative to the first frame portion by torque transfer from rotation of the drive wheel along the wheel-interface surface to the second frame portion.

2. The dynamic furniture system of claim 1, wherein the drive wheel includes a first set of teeth that mesh with a second set of teeth of a rack or a track of the wheelinterface surface.

3. The dynamic furniture system of claim 1, wherein the electronic control system is configured to provide motion control by varying the parameter of electrical energy supplied to the electric motor responsive to a velocity of the second frame portion relative to the first frame portion at a reference position of the second frame portion.

4. The dynamic furniture system of claim 3, wherein the reference position is a center position of the dynamic furniture system; and wherein the parameter of electrical energy supplied to the electric motor is varied to achieve a first velocity of the second frame portion at the reference position in a first direction of the back-and-forth motion that is the same as a second velocity of the second frame portion at the reference position in a second direction of the back-and- forth motion.

5. The dynamic furniture system of claim 1 , wherein the parameter of the electrical energy includes a current and a voltage.

6. The dynamic furniture system of claim 1 , wherein the parameter of the electrical energy includes a current.

7. The dynamic furniture system of claim 1 , wherein the parameter of the electrical energy includes a voltage.

8. The dynamic furniture system of claim 1, further comprising: a plurality of lift actuators mounted to the first frame portion, the plurality of lift actuators operable by the electronic control system to lift the one or more rockers from the set of rollers.

9. The dynamic furniture system of claim 8, further comprising a tab mounted to a rocker of the one or more rockers; wherein the first frame portion defines a channel that accommodates the tab; and wherein the tab contacts a surface of the first frame portion when the one or more rockers are lifted from the set of rollers.

10. The dynamic furniture system of claim 9, wherein the tab contacting the surface of the first frame portion provides a braking function for the second frame portion relative to the first frame portion.

11. The dynamic furniture system of claim 1, wherein the curved profile is an arc segment of a circle.

12. A dynamic furniture system, comprising: a first frame portion; a set of rollers mounted to the first frame portion; a second frame portion including one or more rockers, each of the one or more rockers defining a roller-interface surface having a curved profile; wherein the set of rollers interface with the roller-interface surface of each of the one or more rockers such that the second frame portion is moveable relative to the first frame portion by rotation of the set of rollers along each roller-interface surface; an electric motor mounted to the first frame portion, wherein at least one roller of the set of rollers is operatively coupled to a rotational output element of the electric motor; and an electronic control system interfacing electrically with the electric motor, the electronic control system configured to: provide motion control for the dynamic furniture system by varying a parameter of electrical energy supplied to the electric motor over time to induce back- and-forth motion of the second frame portion relative to the first frame portion by torque transfer from rotation of the at least one roller along the roller-interface surface to the second frame portion.

13. The dynamic furniture system of claim 12, wherein the drive wheel includes a first set of teeth that mesh with a second set of teeth of a rack or a track of the wheelinterface surface.

14. The dynamic furniture system of claim 12, wherein the electronic control system is configured to provide motion control by varying the parameter of electrical energy supplied to the electric motor responsive to a velocity of the second frame portion relative to the first frame portion at a reference position of the second frame portion.

15. The dynamic furniture system of claim 14, wherein the reference position is a center position of the dynamic furniture system; and wherein the parameter of electrical energy supplied to the electric motor is varied to achieve a first velocity of the second frame portion at the reference position in a first direction of the back-and-forth motion that is the same as a second velocity of the second frame portion at the reference position in a second direction of the back-and- forth motion.

16. The dynamic furniture system of claim 12, wherein the parameter of the electrical energy includes one or more of a current and/or a voltage.

17. The dynamic furniture system of claim 12, further comprising: a plurality of lift actuators mounted to the first frame portion, the plurality of lift actuators operable by the electronic control system to lift the one or more rockers from the set of rollers.

18. The dynamic furniture system of claim 17, further comprising a tab mounted to a rocker of the one or more rockers; wherein the first frame portion defines a channel that accommodates the tab; and wherein the tab contacts a surface of the first frame portion when the one or more rockers are lifted from the set of rollers.

19. The dynamic furniture system of claim 18, wherein the tab contacting the surface of the first frame portion provides a braking function for the second frame portion relative to the first frame portion.

20. The dynamic furniture system of claim 12, wherein the curved profile is an arc segment of a circle.