Well I'd have to say we've come a long way with our hands free techniques.
Baby #1 An abandoned shopping cart...Really... Now when you're finished laughing hear me out. It fits a baby bucket in the bottom nice and snug, it keeps baby off the ground and at an easy-to-get-to level, you can move it to nearly any room (we have alot of open space in our house to move though), store a few emergency diapers/ blankets in the bottom like a diaper bag, and throw it in the back of your car when it's time to go grocery shop!
Baby #2 Was strictly a 'pack' baby. He was born with some muscle difficulties which caused frustration as an infant so he was very fussy and only happy when held. I learned how to pack him on my back to do tasks I couldn't accomplish with him in front. (Especially cooking!)
Baby #3 Plastic swing-set type swing hung up in the living room. These work so well inside and if you put enough blankets around the babe they just swing themselves to sleep! We put hooks up in a couple different places in the house so I could move the swing to wherever I was. Word of caution, for those with older kiddos, be sure to set a 'swing height' limit rule because they'll Looooooove pushing baby in the swing! As long as the babe is buckled in I've found it safer than floor swings around older kiddos though.
Baby #4 & 5 Fisher Price Glider. Love this tool. We mounted ours onto a desk in the living room and it worked wonderfully for hand free since it continues to 'glide' forever. (or until the batteries run out!)
(I second the hard fact that cats will sleep in just about any baby holding contraption though so be for warned!)
Now with all this being said, I am a %95 percent baby wearing mum.
I have used the Baby Trekker alot for older babies. Highly recommend because it's so easily adjustable, there are no hard frame parts to dig into you and my son says it looks like an Octopus.
My favorite is my homemade wrap though. About 3 yards of non-stretch cotton fabric, cut lengthwise to make two pieces of material that are 2' wide. You can sew the rough the edges over or leave raw for a fringe look. You cross the wrap over the baby, over your body then around the back to tie. It's a simple and primitive wrap that securely holds the baby against your chest or back or side! It's so versatile and of course nursable! I love how comfortable and lightweight it is. I have made several with all different colors so I can match my attire accordingly with the wrap for a real fashion statement in baby wearing. Or toddler wearing for that matter. My 3 year old loved it too.
**Extra Tid-bit for those mamas that like to (and actually get to) take a shower by themselves once in a while. I've wrapped the sleeping babe up well and set them in the bathroom sink for my 5 min shower. Works like a charm when they're still so tiny you can think of letting them out of your sight (and while they're still small enough to fit in the sink!)