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One key difference is that exersaucers and jumperoos tend to emphasize the toys for babies to play with, while walkers focus more on the ability to get around. So you'll have to gauge which of those things you think your baby would be most into. 2 things to think about with a walker: you don't want it to be accessible to any stairs (we used ours in the basement only), and they really work best on smooth surfaces, as opposed to carpeting. We bought the cheapo BRU walker and the wheels didn't spin too well, which led to some frustration for my baby early on (4-6 months). If I were going to do it again, I would've spent a little more money for a nicer one.
As PP mentioned, walker are NOT recommended because they post a safety concern.
As for exersaucer vs jumperoo, we only have a jumperoo (FP Rainforest) and DS enjoys it a lot. We've had it since he was 4 months, though it took him about a month before he really started jumping in it (prior to that, he just "sat" in there and played with the toys). DS is now 8 months and he still LOVES jumping in the jumperoo.
In your case, however, you may want to look into the max weight limit of those 2. I'm pretty sure the jumperoo has a weight limit of 25lbs, so if your LO is already 20lbs at 4 months, you may not be able to use the jumperoo for too long. I don't know what the weight limit is for an exersaucer.
Fisher Price rainforest Jumperoo is the best - How do I know?? - Fisher Price has to worry about competition. The RF Jumperoo is more than 5 years old - They keep making new ones but the RF is their best seller (it barely goes on sale - costs more than their newer models)
I've used mine for 2 kids already and we love it - Click http://amzn.to/1bfOpCt to read 2,000 reviews of it (amazon posts bad reviews too)
It's better than other companies too (if it wasn't, FP would make something new)