It was designed by IDEO.
Bruce Sterling writes about ergo chairs in Wired during the height of the dot com boom ninteen years ago this month. https://www.wired.com/2000/07/chairs/
"The chair was developed over four years, cost $35 million to design, and resulted in 11 academic studies and 23 patents."
David Pogue reviews the Steelcase Gesture in the NY Times and discusses its predecessor the Leap: https://www.nytimes.com/2013/09/12/technology/personaltech/a...