The announcement comes after an investigation by Consumer Reports indicated that 32 deaths were tied to the rockers.
Fisher-Price insisted earlier this month that the Rock 'n Play Sleeper is safe to use, but urged parents to follow the product warnings and instructions. The deaths happened after the infants rolled over while unrestrained, or under "other circumstances".
The recall covers about 4.7 million of the sleepers, which cost between $40 and $149.
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"Putting safety first, in partnership with the CPSC, Fisher-Price issued a voluntary recall of our Rock 'n Play Sleepers", Fisher-Price tweeted.
In a statement, obtained by PEOPLE on Friday, Chuck Scothon, general manager at Fisher-Price, said a "child fatality is an unimaginable tragedy".
The AAP does not recommend any sleeping products for infants or any products that require restraining a baby. The CPSC's warning asked parents not to allow children over 3 months use the sleeper.
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The company is offering refunds to those who have purchased the sleepers.
In May 2018, the CPSC issued a warning to parents indicating they were "aware of infant deaths associated with inclined sleep products", specifically, "bassinet-like products with an inclined back to elevate the baby's head and torso". The product was manufactured in China.
"The AAP advises against using auto seats, strollers, or other devices for sleep because of the risk that a baby could roll or turn into an unsafe position and be incapable of moving, leading to suffocation or strangulation", it said.
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