Note: Descriptions are shown in the official language in which they were submitted.
METHODS AND APPARATUSES FOR .HAPTIC SYSTEMS
This application is a continuation-in-part of U.S. patent application Ser.
No. 14/808,247, filed Jul. 24,. 2015, which application is a continuation of
U.S.
patent application Ser. No. 13/804,429, filed Mar. 14, 2013, now U.S. Pat. No.
9,146,069, which claims the benefit of U.S. Provisional Application No.
61/650,006, filed May 22, 2012. .This application also claims benefit of U.S.
Provisional Application No. 62/085,443, filed Nov. 28, 2014, and U.S.
Provisional Application No. 62/170,572, filed jun. 3,2015.
DESCRIPTION OF THE DRAWINGS
FIG. 1 is a side view of a firearm training system, according to an exemplary
embodiment of the present disclosure.
FIG. 2 is a side view of a simulated firearm body of the system shown in FIG.
1.
FIG. 3 is a perspective view of an upper assembly of the simulated firearm
body
shown in FIG. 2.
FIG. 4 is an exploded view of the simulated firearm body shown in FIG. 2.
FIG, 5 is a perspective view of a linear motor and sliding mass, according to
an
exemplary embodiment of the present disclosure.
FIG. 6 is an exploded side view of the linear motor and sliding mass shown in
FIG. 5.
-20 FIG. 7 is an assembled side view-of the linear motor and sliding mass
shown in
FIG. 6.
FIG. 8 is a perspective view of a support bracket for a linear motor and
sliding
mass, according to an exemplary embodiment of the present disclosure.
FIG. 9 is a side view of a simulated 'firearm body, according to an exemplary
embodiment of the present disclosure.
FIG. 10 is a schematic =flow diagram of the simulated firearm system shown in
FIG. 1.
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Figure 11 is a sequencing side view showing a sliding mass of a linear motor
at an
initial position relative to a simulated firearm body in a simulation recoil
cycle,
according to an exemplary embodiment of the present disclosure.
Figure 12 is a sequencing side view showing the sliding mass of the linear
motor
shown in Figure 11 extending a sliding shaft to the end of its rightmost
movement
relative to the simulated firearm body in the simulation recoil cycle.
Figure 13 is a sequencing side view showing the linear motor of Figure 12
retracting
the sliding mass relative to the simulated firearm body in the simulation
recoil cycle.
Figure 14 is a sequencing side view showing the linear motor of Figure 13
continuing
to retract the sliding mass relative to the simulated firearm body in the
simulation
recoil cycle.
Figure 15 is a sequencing side view showing the linear motor of Figure 14
after
finishing retraction of the sliding mass relative to the simulated firearm
body in the
simulation recoil cycle so that the linear motor is ready for a next
simulation recoil
cycle.
Figure 16 is a prophetic graph plotting recoil force versus time of a first
round of
ammunition along with force versus time caused by a linear motor kinematically
controlling dynamics of a sliding mass, according to an exemplary embodiment
of the
present disclosure.
Figure 17 is a prophetic graph plotting recoil force versus time of a second
round of
ammunition along with force versus time caused by a linear motor kinematically
controlling dynamics of a sliding mass, according to an exemplary embodiment
of the
present disclosure.
Figures 18 to 21 are schematic sequencing diagrams illustrating an individual
repetitively firing a firearm with recoil causing increasing loss of accuracy
with
repetitive shots, according to an exemplary embodiment of the present
disclosure.
Figure 22 is a perspective and internal side view of a linear motor and
sliding mass,
according to an exemplary embodiment of the present disclosure.
Figure 23 is a perspective view of a sliding mass with exemplary magnets
removed,
according to an exemplary embodiment of the present disclosure.
Figure 24 is an enlarged perspective view of the sliding mass shown in Figure
23 with
exemplary magnets removed.
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Figure 25 is a schematic diagram illustrating operation of coils in a linear
motor,
according to an exemplary embodiment of the present disclosure.
Figures 26 and 27 are schematic diagrams illustrating operation of coils in a
linear
motor in two different energized states, according to an exemplary embodiment
of the
present disclosure.
Figures 28 and 29 are schematic diagrams illustrating movement of magnets
through a
linear motor in two different energized states, according to an exemplary
embodiment
of the present disclosure.
Figure 30 is a diagram illustrating magnetic flux density versus voltage
output,
according to an exemplary embodiment of the present disclosure.
Figures 31 and 32 are diagrams of sensor voltage response versus time for a
slider
moving through a linear motor, according to an exemplary embodiment of the
present
disclosure.
Figure 33 is a diagram of a sample wave form, according to an exemplary
embodiment of the present disclosure.
Figures 34 and 35 are diagrams of sensor voltage response versus time for a
slider
moving through a linear motor at two different constant linear speeds,
according to an
exemplary embodiment of the present disclosure.
Figure 36 is a diagram of a force versus time plotted for recoil forces for an
actual
fireaint, compared to simulated recoil forces by a method and apparatus using
a
mechanical stop, and not using a mechanical stop, according to an exemplary
embodiment of the present disclosure.
Figure 37 is a diagram of an acceleration versus time plotted for recoil
acceleration
for an actual firearm, compared to simulated acceleration of a sliding mass
caused by
a method and apparatus using a mechanical stop, and not using a mechanical
stop,
according to an exemplary embodiment of the present disclosure.
Figure 38 is a diagram of a velocity versus time plotted for recoil velocity
for an
actual firearm, compared to simulated velocity of a sliding mass caused by a
method
and apparatus using a mechanical stop, and not using a mechanical stop,
according to
an exemplary embodiment of the present disclosure.
Figure 39 is a side view of a simulated hand gun, according to an exemplary
embodiment of the present disclosure.
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Figure 40 is an opposite side view of the simulated hand gun shown in Figure
39.
Figure 41 is an exploded view of the simulated hand gun shown in Figure 40.
Figure 42 is a side view of an upper receiver (with handgun slide) of a
simulated hand
gun, according to an exemplary embodiment of the present disclosure.
Figure 43 is an internal side view of components of the upper receiver shown
in
Figure 42 which are ready for the cocking of a slider before a simulation
cycle,
according to an exemplary embodiment of the present disclosure.
Figure 44 is a schematic of the slider shown in Figure 43 being pulled
backwardly to
cock the simulated hand gun, according to an exemplary embodiment of the
present
disclosure.
Figure 45 is a schematic of the slider shown in Figure 44 returning to a pre-
firing
simulated position for the simulated hand gun, according to an exemplary
embodiment of the present disclosure.
Figure 46 is a schematic of a linear motor moving the sliding rod in a
rearward
direction until a shoulder of the slider shown in Figure 45 hits the stop,
according to
an exemplary embodiment of the present disclosure.
Figure 47 is a side view of a simulated hand gun with removable power supply
(battery) replicating a magazine, according to an exemplary embodiment of the
present disclosure.
Figure 48 is an isometric view of the power supply (battery) shown in Figure
47
removed from the simulated hand gun, according to an exemplary embodiment of
the
present disclosure.
Figure 49 is an isometric view of a simulated magical wand with a linear motor
removed, according to an exemplary embodiment of the present disclosure.
Figure 50 is a side view of a user holding the gaming wand shown in Figure 49.
Figure 51 is a schematic of an embodiment of the method and apparatus shown in
Figures 49 and 50.
Figure 52 is a front view of a simulated tennis racket with a plurality of
linear motors,
according to an exemplary embodiment of the present disclosure.
Figure 53 is an internal plan view of the simulated tennis racket shown in
Figure 52
with a racket portion removed.
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Figure 54 is a side view of a simulated tennis racket, according to an
exemplary
embodiment of the present disclosure.
Figure 55 is a perspective view of a linear motor and sliding mass/rod
combination,
according to an exemplary embodiment of the present disclosure.
Figure 56 is a diagram of a standing or resonating wave form with a changing
property such as amplitude, according to an exemplary embodiment of the
present
disclosure.
Figure 57 is a diagram of various transient wave forms with different
properties of
amplitude and period, according to an exemplary embodiment of the present
disclosure.
Figure 58 is a diagram of various types of standing or resonating wavefolins
with
constant wave form properties, according to an exemplary embodiment of the
present
disclosure.
Figure 59 is a diagram of various types of standing or resonating waveforms
with
constant wave form properties but with superimposed transient wave forms with
changing wave form properties, according to an exemplary embodiment of the
present
disclosure.
Figure 60 is a schematic of a sliding mass including four magnets, according
to an
exemplary embodiment of the present disclosure.
Figure 61 is a schematic of a linear motor emulating a spring constant of a
force
required to charge or cock a slide of a handgun being simulated, according to
an
exemplary embodiment of the present disclosure.
Figure 62 is a schematic of a meter where a generated current can be measured
or
stored as a magnet is moved through a coil, according to an exemplary
embodiment of
the present disclosure.
Figure 63 is an isometric view of a shortened simulated handgun magazine,
according
to an exemplary embodiment of the present disclosure.
Figure 64 is an isometric internal view of the simulated handgun magazine
shown in
Figure 63 with super-capacitors visible.
Figure 65 is an isometric view of a charging / loading mechanism for a heavy
weapon
platform, according to an exemplary embodiment of the present disclosure.
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Figure 66 is an isometric view of a charging / loading mechanism for a heavy
weapon
platform, according to an exemplary embodiment of the present disclosure.
Figure 67 is an isometric view of a charging / loading mechanism for a heavy
weapon
platform showing a direction the user would pull on the charging handle for
loading,
according to an exemplary embodiment of the present disclosure.
Figure 68 is an isometric view of a user pulling a charging handle via a
charging /
loading mechanism for a heavy weapon platform, according to an exemplary
embodiment of the present disclosure.
Figure 69 is an isometric view of a peripheral embodiment including a linear
motor,
according to an exemplary embodiment of the present disclosure.
Figure 70 is an internal side view of the peripheral embodiment shown in
Figure 69
with linear motor, sliding mass, and mechanical stop exposed.
Figure 71 is a side view of a virtual reality gaming peripheral, according to
an
exemplary embodiment of the present disclosure.
Figure 72 is an internal side view of the virtual reality gaming peripheral
shown in
Figure 71.
Figures 73 and 74 are side views showing two positions of a linear motor on a
chair,
according to an exemplary embodiment of the present disclosure.
Figure 75 is a side view of linear motors attached to the chair in both the
positions of
linear motor shown in Figures 73 and 74.
Figure 76 is an isometric view of linear motors attached in different
orientations on a
chair, according to an exemplary embodiment of the present disclosure.
Figure 77 is a side view of a modified butt stock including a linear motor
system,
according to an exemplary embodiment of the present disclosure.
Figure 78 is an internal side view of the modified butt stock shown in Figure
77.
Figure 79 is a side view of the modified butt stock shown in Figures 77 and 78
with a
threaded buffer tube visible.
Figure 80 is an internal side view of a shock stick including a linear motor
housed
inside a hollow cylinder, according to an exemplary embodiment of the present
disclosure.
Figure 81 is a schematic of a user holding the shock stick shown in Figure 80.
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Figure 82 is a side view of a user holding a virtual reality gaming peripheral
that
includes a shock stick and that is connected to a chair via a removable cable
harness,
according to an exemplary embodiment of the present disclosure.
Figure 83 is an internal side view of a shock stick inserted into a peripheral
body,
according to an exemplary embodiment of the present disclosure.
DESCRIPTION OF EMBODIMENTS
Methods and apparatuses are provided for haptic systems. Embodiments
include linear motors configured to simulate haptic feedback for gaming
devices and
simulations systems, including gaming firearms and other peripheral devices
used in
various gaming environments.
Embodiments relate to simulating of recoil for firearms. More specifically, an
embodiment provides a method and apparatus for simulating the recoil of a
selected
conventional firearm. Embodiments additionally provide a laser to simulate the
path
of a bullet if the bullet had been fired from a firearm being simulated by the
method
and apparatus.
Firearms training for military personnel, law enforcement officers, and
private
citizens increasingly encompass role playing and decision making in addition
to
marksmanship. Such training often includes competing against role players
and/or
responding to situations projected onto a screen in front of the trainee.
Although self-healing screens exist, permitting the use of conventional
firearms for such training, the use of such a system requires a location
appropriate to
the use of conventional firearms. Furthermore, such systems are expensive and
may
be unreliable. Alternatives to conventional firearms have been developed.
These
alternatives include paintball, simulated munitions, and the use of a laser to
show the
path a bullet would have taken had one been fired.
Such alternatives, however, do not duplicate substantially all of the
characteristics of firing an actual weapon with actual ammunition, and limit
the extent
to which the training will carry over to use of actual firearms. In various
embodiments, the characteristics of a conventional fireann to be duplicated
may
include size, weight, grip configuration, trigger reach, trigger pull weight,
type of
sights, level of accuracy, method of reloading, method of operation, location
and
operation of controls, and/or recoil.
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Realistic recoil is a difficult characteristic to duplicate. The inability to
get a
trainee accustomed to the recoil generated by a particular fireaun is one of
the greatest
disadvantages in the use of various firearm training simulators. Recoil not
only forces
a firearm shooter to reacquire the sights after shooting, but also forces the
shooter to
adapt to a level of discomfort proportional to the energy of the particular
bullet to be
fired by the firearm. Recoil is significantly more difficult to control during
full
automatic fire than during semi-automatic fire, making the accurate simulation
of both
recoil and cyclic rate important in ensuring that simulation training carries
over to the
use of actual firearms.
Embodiments provide a firearm training simulator having a recoil emulating
the recoil impulse pattern of a particular fireatin firing a particular size
and type of
bullet. In an embodiment, the method and apparatus may include a laser beam
projector for projecting the path of a bullet fired from the particular
firearm being
simulated.
In various embodiments, the method and apparatus may also simulate
additional operations of a particular firearm, which operations include
sighting,
positioning of the firearm controls, and methods of operation of the firearm.
Particular
firearms that may be simulated include M4, AR-15, or M-16 rifles, along with
other
conventional firearms, including pistols and heavy firearms.
In an embodiment, a method and apparatus may be controlled by a
combination of the trigger assembly, bolt, and linear motor. In embodiments,
methods
and apparatuses may be capable of simulating modes of semi-automatic fire and
full
automatic firing. In various embodiments, the cyclic rate of full automatic
firing mode
simulation may be substantially the same cyclic rate of a conventional
automatic rifle.
An embodiment provides a laser substantially tracking the path of an actual
bullet being fired from a firearm being simulated. One laser emitter may be
housed
within the barrel of the firearm simulating body. In an embodiment, the laser
emitter
may be operatively connected to a controller which may also be operatively
connected
to a recoil. An embodiment of the switch may be a roller switch structured to
be
actuated by a switching rod extending forward from the bolt. When the bolt
moves
forward in response to pulling the trigger, the switching rod may engage the
roller of
the switch, thereby depressing the switch and actuating the laser. Another
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embodiment may use a proximity switch mounted in a location wherein a magnet
may
be brought into contact with it upon forward movement of the bolt. A preferred
location may be adjacent to the juncture between a barrel and upper receiver.
A
magnet affixed to the bolt may be structured to be brought into proximity with
the
proximity switch when the bolt is in its forwardmost position, thereby causing
the
proximity switch to actuate the laser.
One embodiment provides a method and apparatus wherein the level of recoil
imparted to the user may be programmed by the user.
One embodiment provides a method and apparatus capable of both semi-
automatic and full automatic operation.
One embodiment provides a method and apparatus wherein different cyclic
rates of full automatic fire may be programmed by the user.
One embodiment provides a method and apparatus including a laser assembly
projecting laser substantially along the path of a bullet that may have been
fired from
.. the firearm being simulated.
One embodiment provides a method and apparatus simulating the recoil of a
conventional firearm using a linear motor controlling a sliding mass and
operatively
coupled to a controller.
A linear motor may be thought of as an electric motor that has had its stator
and rotor "unrolled" so that, instead of producing a torque (i.e., through
rotation), it
produces a linear force along its longitudinal length. The most common mode of
operation for conventional linear motors is as a Lorentz-type actuator, in
which the
applied force is linearly proportional to the current and the magnetic field.
Many designs have been put forward for linear motors, falling into two major
categories: low-acceleration and high-acceleration linear motors. Low-
acceleration
linear motors are suitable for maglev trains and other ground-based
transportation
applications. High-acceleration linear motors are normally rather short, and
are
designed to accelerate an object to a very high speed, for example, see the
railgun.
High-acceleration linear motors are usually used for studies of hypervelocity
collisions, as weapons, or as mass drivers for spacecraft propulsion. High-
acceleration
motors are usually of the AC linear induction motor (LIM) design with an
active
three-phase winding on one side of the air-gap and a passive conductor plate
on the
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other side. However, the direct current homopolar linear motor railgun may be
another high acceleration linear motor design. The low-acceleration, high
speed and
high power motors are usually of the linear synchronous motor (LSM) design,
with an
active winding on one side of the air-gap and an array of alternate-pole
magnets on
the other side. These magnets may be permanent magnets or energized magnets.
The
Transrapid Shanghai motor is an LSM design.
Linear motors employ a direct electromagnetic principle. Electromagnetic
force provides direct linear movement without the use of cams, gears, belts,
or other
mechanical devices. The motor includes two parts: the slider and the stator.
The slider
.. is a precision assembly that includes a stainless steel tube, which is
filled with
neodymium magnets, that has threaded attachment holes on each end. The stator,
including coils, the bearing for the slider, position sensors and a
microprocessor
board, may be designed for use in harsh industrial environments.
A solenoid is a coil wound into a tightly packed helix. The term solenoid
refers to a long, thin loop of wire, often wrapped around a metallic core,
which
produces a magnetic field when an electric current is passed through it. The
term
solenoid refers to a coil designed to produce a uniform magnetic field in a
volume of
space (where some experiment might be carried out). In engineering, the term
solenoid may also refer to a variety of transducer devices that convert energy
into
linear motion. The teim is also often used to refer to a solenoid valve, which
is an
integrated device containing an electromechanical solenoid which actuates
either a
pneumatic or hydraulic valve, or a solenoid switch, which is a specific type
of relay
that internally uses an electromechanical solenoid to operate an electrical
switch. For
example, electromechanical solenoid may be an automobile starter solenoid or a
linear
solenoid.
Electromechanical solenoids include an electromagnetically inductive coil,
wound around a movable steel or iron slug (termed the armature). The coil may
be
shaped such that the armature may be moved in and out of the center, altering
the
coil's inductance and thereby becoming an electromagnet. The armature may be
used
to provide a mechanical force to some mechanism (such as controlling a
pneumatic
valve). Although typically weak over anything but very short distances,
solenoids
may be controlled directly by a controller circuit, and thus have very low
reaction
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times. The force applied to the armature is proportional to the change in
inductance of
the coil with respect to the change in position of the armature, and the
current flowing
through the coil (see Faraday's law of induction). The force applied to the
armature
will always move the armature in a direction that increases the coil's
inductance. The
.. armature may be a ferromagnetic material.
Free recoil is a vernacular term or jargon for recoil energy of a firearm not
supported from behind. Free recoil denotes the translational kinetic energy
(Et)
imparted to the shooter of a small arm when discharged and is expressed in
joule(J)
and foot-pound force (ft=lbf) for non-SI units of measure. More generally, the
term
refers to the recoil of a free-standing firearm, in contrast to a firearm
securely bolted
to or braced by a massive mount or wall.
Free recoil should not be confused with recoil. Free recoil is the given name
for the translational kinetic energy transmitted from a small arm to a
shooter. Recoil is
a name given for conservation of momentum as it generally applies to an
everyday
event.
Free recoil, sometimes called recoil energy, is a byproduct of the propulsive
force from the powder charge held within a firearm chamber (metallic cartridge
firearm) or breech (black powder firearm). The physical event of free recoil
occurs
when a powder charge is detonated within a firearm, resulting in the
conversion of
chemical energy held within the powder charge into thermodynamic energy. This
energy may then be transferred to the base of the bullet and to the rear of
the cartridge
or breech, propelling the firearm rearward into the shooter while the
projectile is
propelled forward down the barrel, with increasing velocity, to the muzzle.
The
rearward energy of the firearm is the free recoil and the forward energy of
the bullet is
.. the muzzle energy.
The concept of free recoil comes from the tolerability of gross recoil energy.
Figuring out the net recoil energy of a firearm (also known as felt recoil) is
a futile
endeavor. Even the recoil energy loss due to: muzzle brake; recoil operated
action or
gas operated action; mercury recoil suppression tube; recoil reducing butt pad
and/or
.. hand grip; shooting vest and/or gloves can be calculated, the human factor
is not
calculable.
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Free recoil may be thought of as a scientific measurement of recoil energy.
The comfort level of a shooter's ability to tolerate free recoil is a personal
perception.
This personal perception may be similar to, for example, a person's personal
perception of how comfortable he or she feels to room or outside temperature.
Many factors may determine how a shooter may perceive the free recoil of his
or her small arm. Some of the factors include, but are not limited to: body
mass; body
frame; experience; shooting position; recoil suppression equipment; small arm
fit
and/or environmental stressors.
Several different methods may be used to calculate free recoil. The two most
common methods are indicated via momentum short and long form equations.
Both forms may yield the same value. The short form uses one equation while
the long form requires two equations. In the long form, the fire/small arm
velocity
may first be determined. With the velocity known for the small arm, the free
recoil of
the small arm may be calculated using the translational kinetic energy
equation. A
calculation may be performed as follows:
Momentum short form:
Etgõ = 0.5 * mgu * [[(mp*vp )*(inc*vc)]/1000]2/mgõ2
Momentum long form:
vg,, = [(mp*vp ) + (mc*vc)]/(1000*mgu) and
and
Etgu = 0.5 * mgu * vgu2
Where:
Eigu is the translational kinetic energy of the small arm as expressed by the
joule (J).
mgu is the weight of the small aim expressed in kilograms (kg).
mp is the weight of the projectile expressed in grams (g).
aic is the weight of the powder charge expressed in grams (g).
vg. is the velocity of the small arm expressed in meters per second (m/s).
vp is the velocity of the projectile expressed in meters per second (m/s).
vc is the velocity of the powder charge expressed in meters per second (m/s).
1000 is the conversion factor to set the equation equal to kilograms.
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In various embodiments, the linear motor may include a sliding mass/rod
including a plurality of individual magnets each having north and south poles.
In
various embodiments, the plurality of individual magnets may be longitudinally
aligned with like poles of adjacent magnets facing like poles. In
various
embodiments, the plurality of individual magnets may be longitudinally aligned
with
unlike poles of adjacent magnets facing unlike poles. In various embodiments,
the
plurality of individual magnets in the sliding mass/rod may include 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12, 13, 14, 15, 16, 19, 20, 25, 30, 35, 40, 45, and/or 50 magnets.
In various
embodiments, the number of magnets may be between the range of any two of the
above listed numbers.
Linear motor may include a plurality of magnetic coils independently
controllable with respect to each other regarding timing and/or amount of
current
flow. In various embodiments, the plurality of independently controllable
magnetic
coils may each be independently controllable regarding the timing and/or
amount of
current flow and/or direction of current flow.
In embodiments, each of the plurality of independently controllable magnetic
coils may include a plurality of sub-coil sections spaced apart from each
other but
connected electrically in series causing the electrically serially connected
spaced apart
sub-coil sections to form a single independently controllable magnetic coil.
In various
embodiments, at least one sub-coil of a first independently controllable
magnetic coil
of the plurality of coils may be intermediately spaced between two spaced
apart sub-
coils of a second independently controllable magnetic coil of the plurality of
coils.
Linear motor may include a plurality of independently controllable magnetic
coils which are longitudinally aligned with each other and closely spaced,
wherein at
least two adjacent independently controllable magnetic coils may be energized
to
create oppositely polarized magnetic fields. In embodiments, the linear motor
may
include a plurality of independently controllable magnetic coils which are
longitudinally aligned, wherein adjacent independently controllable magnetic
coils
may be simultaneously energized to create oppositely polarized magnetic
fields.
In various embodiments, the linear motor may include a plurality of
independently controllable magnetic coils which may be longitudinally aligned
with
each other and closely spaced, slidingly connected to a sliding mass of
magnets,
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which sliding mass may include a plurality of longitudinally aligned adjacent
magnets, wherein the linear motor may cause movement of a sliding mass of
magnets
by varying current through individual independently controllable coils in
relation to
the proximity of a particular magnet in the plurality of magnets to a
particular coil in
the plurality of independently controllable magnetic coils.
In various embodiments, the plurality of individually controllable magnetic
coils in the plurality of coils may include at least 2, 3, 4, 5, 6, 7, 8,9,
10, 11, 12, 13,
14, 15, 16, 19, 20, 25, 30, 35, 40, 45, and/or 50 independently controllable
coils. In
embodiments, the number of independently controllable magnetic coils may be
between the range of any two of the above listed numbers.
In one embodiment, a plurality of linear motors may be provided that
independently control a plurality of different controllable weight units.
In an embodiment, a housing facade unit may be provided having a plurality
of different spaced apart positional locations in the housing facade unit for
receiving
and holding one or more linear motors and controllable weight units. In
various
embodiments the positional locations may be selectable by a user.
In another embodiment, a housing facade unit may be provided having a
plurality of different angular orientations for receiving and holding one or
more linear
motors and controllable weight units. In various embodiments, the angular
orientations may be selectable by a user.
In yet another embodiment, a plurality of different housing facade units may
be provided with different positions and/or angular orientations for receiving
and
holding one or more linear motors and controllable weight units. In various
embodiments, the positional locations and/or angular orientations may be
selectable
.. by a user.
In one embodiment, a selectable set of linear motors and controllable weight
units may be provided, each having adjustable configurations including spacing
and/or orientation of the different controllable weights in a housing.
In various embodiments, one or more of the linear motors and controllable
weight units may include a plurality of different weight inserts.
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In other embodiments, one or more of the linear motors and controllable
weight units may include a plurality of different and selectable mechanical
stopping
positions for the controllable weights.
In some embodiments, methods and apparatuses disclosed herein may
simulate operations of one or more selectable gaming devices such as tennis
racket,
baseball bat, magic wand, hockey stick, cricket bat, badminton, pool stick,
boxing
glove(s), sword, light saber, bow and arrow, golf club, and fishing pole.
In various embodiments, the methods and apparatuses disclosed herein may
haptically simulate one or more secondary type actions of system being
emulated, for
example, halo plasma gun, broken bat, bat vibrations after hitting baseball,
weapon,
charging/loading, etc.
One embodiment may provide a firearm simulator body 20 which may
simulate an M-4A1, AR-15, M-16 rifle or any other type of rifle. While body 20
is
shown as a rifle in Figure 1, embodiments of the present disclosure as
described
herein may include various other firearm bodies. For example, embodiments of
the
present disclosure may include simulation systems for handguns, rifles,
shotguns, and
heavy weapons, including M2s, Mark 19s, Rocket Propelled Grenade (RPG)
Launchers, Mortars, and Machine Guns. The list above is not exhaustive and
various
different types of bodies may be included that incorporate the recoil/shock
systems
described herein for firearm simulation in gaming, military and other
applications.
As shown in the example embodiment of Figures 1 to 4, firearm simulator
body 20 includes upper receiver 120 and lower receiver 140. Like a
conventional M-
16, upper receiver 120 may be pivotally secured to lower receiver 140 by a
screw or
pin.
Lower receiver 140 may include a pistol grip 160, a trigger 170 disposed in
front of the pistol grip 160, and a selector 450 disposed above the pistol
grip 160. A
shoulder stock 220 may be secured to lower receiver 140.
A barrel assembly 300 may be mounted to the front portion of upper receiver
120. The barrel assembly 300 may include a barrel 310 which may be directly
secured
to upper receiver 120. An upper handguard 330 and lower handguard 340 may be
secured to barrel assembly 300. A front sight block 360 may be disposed around
barrel 310.
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Figure 1 is a side view of one embodiment of a firearm training system 10.
Figure 2 is a side view of simulated firearm body 20. Figure 3 is a
perspective view
of upper assembly / receiver 120. Figure 4 is an exploded view of simulated
firearm
body 20.
Firearm training system 10 may include a simulated firearm body 20 having a
linear motor 500 operatively connected to a slider mass 600, and a controller
50
operatively connected to the linear motor 500 via connecting wire bus 54.
Simulated firearm body 20 may include upper assembly 120 and lower
assembly 140. Upper assembly 120 may include barrel assembly 300, barrel 310,
along with upper 330 and lower 340 hand guards.
Lower assembly 140 may include stock shoulder stock 220, buffer tube 230,
and pistol grip 160. Pistol grip 160 may include trigger 170. Cartridge 250
may be
detachably connectable to lower assembly 140.
Linear motor 500 may be attached to upper assembly 120 via connector
assembly 700. Connector assembly 700 may include first end 710, second end
720,
connector plates 721 and 722, connector tube 740 having bore 750. Connector
plate
721 may include fastener openings 730, and connector plate 722 includes
fastener
openings 732.
Figure 5 is a perspective view of a linear motor 500 and sliding mass 600.
.. Figure 6 is an exploded side view of linear motor 500 and sliding mass 600.
Figure 7
is an assembled view of the linear motor 500 and sliding mass 600.
Linear motor 500 may include a plurality 520 of separately controllable
energized coils 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, etc. which
may
electromagnetically interact with the plurality of magnets 640 in mass 600. By
controlling the timing, direction of current, and power of magnetic attraction
of
particular magnetic coils in plurality of separately controllable magnetic
coils 520,
movement, acceleration, velocity, and position of mass 600 may be controlled
to
obtain a desired momentum/impulse curve over time which approximates a
particular
impulse curve over time for a particular firearm being simulated. One method
of
control for power delivered to the linear motor that may be advantageous in
the
present disclosure is Pulse-Width Modulation or (PWM). PWM technique may be
used to encode a message into a pulsing signal; it is a type of modulation.
Although
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this modulation technique may be used to encode information for transmission,
its
main use is to allow the control of the power supplied to the linear motor.
The average
value of voltage (and current) fed to the load may be controlled by turning
the switch
between supply and load on and off at a fast rate. The longer the switch is on
compared to the off periods, the higher the total power supplied to the load.
The
PWM switching frequency is much higher than what would affect the load (the
device
that uses the power), which is to say that the resultant waveform perceived by
the load
must be as smooth as possible. Typically switching is done tens of kHz for a
motor
drive. For example, in one embodiment, PWM may be used to control the sliding
mass in the range of 10 kHz to 30 kHz for recoil/shock production. This may be
advantageous for keeping power consumption low and having repeatability in the
movement on the linear motor. The duty cycle describes the proportion of 'on'
time to
the regular interval or 'period' of time; a low duty cycle corresponds to low
power
because the power is off for most of the time. Duty cycle may be expressed in
percent,
100% being fully on. One of the main advantages of PWM use with the particular
linear motor applications described herein is that power loss in the switching
devices
is very low. When a switch is off there is practically no current. When the
switch is on
and power is being transferred to the load, there is almost no voltage drop
across the
switch. Power loss, being the product of voltage and current, is thus in both
cases
close to zero. By adjusting the linear motor's duty cycle, when the switch is
ON
versus OFF, power saving may be achieved especially in cases of untethered use
where battery/power sources are limited and at a premium. In one embodiment,
the
linear motor system may use a super-capacitor pack as the power source and the
duty
cycle / PWM may be chosen such that the power consumption is optimized based
on
the duty cycle for producing recoil, and the resolution of the linear motor
(minimum
repeatable linear movement) optimized based on the PWM needed to produce
recoil/shock.
Linear motor 500 may include a mass 600 which is slidably connected to
linear motor 500. Mass 600 may include first end 610, second end 620, and bore
630.
Plurality of magnets 640 may be included inside of bore 630. Linear motors 500
have
not been used in simulated firearms for controlling recoil force.
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Figure 8 is a perspective view of one embodiment of a support 700 for linear
motor 500 and sliding mass 600. Support 700 may include first end 710 and
second
end 720. On first end may be first and second connector flanges 721,722. First
connector flange 721 may include a plurality of connector openings 730. Second
.. connector flange 722 may include a plurality of connector openings 732.
Coming
from second end 720 may be tubular section 740 having a tubular bore 750.
Linear
motor 500 may be mounted to support 700 via plurality of openings 730 and 732
being connected to plurality of connector openings 540. After mounting to
support
700, linear motor 500 may cause sliding mass 600 to controllably move (e.g.,
slide,
accelerate, etc.) inside of and relative to bore 750.
In one embodiment, mechanical stop 800 may be employed to increase free
recoil from sliding mass 600. Mechanical stop 800 may be employed inside the
simulated firearm body 20 to "rigidly" (i.e., more quickly negatively
accelerate to
zero sliding mass 600 than linear motor 500 is capable of) at the end of
allowed length
of travel 660. Such quick stop may produce an enhanced recoil effect on user 5
by
increasing the maximum generated recoil force on the user 5. Because linear
motor
500 employs a magnetic sliding mass 600 with an electromagnetic stator, there
is a
coupling between the two and a corresponding maximum acceleration and
deceleration that the device can achieve. To such limitation, mechanical stop
800 may
be employed. Linear motor 500 normally brakes sliding mass 600 by reversing
the
driving magnetic field originally used to accelerate sliding mass 600 in the
opposite
direction for stopping at the end of the length of travel 660. Instead of this
method,
braking is left up to contact between sliding mass second end 620 and
mechanical
stop first end 810 inside lower assembly 140. This allows for much faster
breaking
times for sliding mass 600 than linear motor 500 could, with such faster
braking or
deceleration creating larger reactive forces from sliding mass 600 and thus a
larger
free recoil value produced by system 10 at this point in time and position for
sliding
mass 600.
In various embodiments, during an emulated firing cycle, linear motor 500
.. may control movement of sliding mass 600 causing sliding mass 600 to
continue to
acceleration until the last 1 percent of the entire stroke of sliding mass 600
as sliding
mass 600 moves towards collision with mechanical stop 800. In embodiments,
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acceleration may be increased until the last 2,3,4,5, 10, 15, 20, 25, 30, 35,
and/or 40
percent of the entire stroke of sliding mass 600 as sliding mass 600 moves
towards
collision with mechanical stop 800. In some embodiments, the control of
increased
acceleration may be until the range of any two of the above referenced
percentages
percent of the entire stroke of sliding mass 600 as sliding mass 600 moves
towards
collision with mechanical stop 800.
During an emulated firing cycle, linear motor 500 may control movement of
sliding mass 600 causing sliding mass 600 to continue acceleration until 1
millisecond
before sliding mass 600 collides with mechanical stop 800. In embodiments,
acceleration may be increased until 2,3,4,5,6,7,8,9,10,12,14,15,16,18, and/or
20
milliseconds before sliding mass 600 collides with mechanical stop 800. In
various
embodiments, the control of increased acceleration may be until the range of
any two
of the above referenced time periods before sliding mass 600 collides with
mechanical
stop 800.
Simulated firearm body 20 may include a selector switch 450 operatively
connected to controller 50 for controlling the type of operation fireann
training
system 10. For example, selector switch 450 may have a plurality of modes of
simulation such as: (1) safety; (2) semi-automatic firing mode; (3) fully
automatic
firing mode; and (4) burst firing mode.
To use firearm training system 10, a user may select the position of selector
switch 450, aim simulated firearm body 20 at a target, and pull trigger 170.
When
trigger 170 is pulled, controller 50 may cause linear motor 500 to
kinematically
control sliding mass 600 to create reactionary forces which may be transmitted
to user
holding simulated firearm body 20. The reactionary forces created by
controlling
sliding mass 600 may be controlled to be substantially similar in time and
amount for
particular ammunition being simulated as being fired from the firearm being
simulated.
In an embodiment, a time versus force diagram of a particular round of
ammunition being fired from a particular firearm to be simulated may be
identified,
and controller 50 may be programmed to control linear motor 500 to control
movement of sliding mass 600 to create substantially the same forces over time
by
controlling the acceleration versus time of sliding mass. Because force is
equal to the
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product of acceleration multiplied by mass, controlling acceleration versus
time also
controls force versus time.
In some embodiments, a plurality of simulation data point sets (such as force
versus time values) may be generated. In one embodiment, a particular type of
ammunition may be tested in a firearm to be simulated and a data set of
apparent
recoil force versus time may be generated. A plurality of measurements may be
taken
over a plurality of times. In an embodiment, a program for linear motor may be
created to cause reaction forces of sliding mass 600 to substantially match in
both
time and amplitude such emulated force diagram for a plurality of points. In
embodiments, at least 3 points may be matched.
In various embodiments, at least 3,4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16,
17,
18, 19, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 90, and/or 100 simulation
point data sets
may be substantially matched. In embodiments, a range of between any two of
the
above specified number of simulation point data sets may be substantially
matched.
In one embodiment, system 10 may be used to emulate a force versus time
curve that is estimated to occur with a particular firearm firing a particular
size and
type of ammunition being simulated.
Recoil may be thought of as the forces that a firearm places on the user
firing
the firearm. Such recoil forces may be dependent upon the size and
construction of
the firearm, along with the characteristics of the bullet being fired from the
firearm.
The recoil imposed on a user of the same firearm may be different when the
firearm
fires a first type of ammunition compared to a second type of ammunition.
In embodiments, linear motor 500 and sliding mass 600 combined may have a
total mass which approximates the mass of the particular firearm being
simulated. In
one embodiment, simulated firearm body 20, which includes linear motor 500 and
sliding mass 600 combined, have a total mass which approximates the mass of
the
particular firearm being simulated. In various embodiments, either the linear
motor
500 and/or sliding mass 600 combined may have a total mass (and/or the
simulated
firearm body 20 which includes linear motor 500 and sliding mass 600 combined)
have a total mass which is about 65, 70, 75, 80, 85, 90, 95, and/or 100
percent of the
mass of the particular firearm being simulated. In embodiments, a range
between any
two of the above referenced percentages may be used.
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In embodiments, a substantially balanced simulated firearm body 20 may be
provided. By locating linear motor 500 in the front portion of simulated
firearm body
20, better weight balance as well as a more realistic starting position for
the simulated
reactive force vector may be achieved. By positioning sliding mass 600
movement in
this way, barrel 300 weight and center of gravity of simulated firearm body 20
may be
more realistic to user 5 when system 10 is idle and trigger 170 is not being
pulled.
This is due to the starting position of sliding mass 600. In one embodiment,
barrel 310
material being used in upper assembly 120 may not be steel, and upper assembly
120
may feel unrealistic to user 5 due to a change in weight distribution compared
to an
upper assembly for an actual firearm being simulated. To solve this problem,
during
the initial stage of a recoil simulation cycle, a portion of sliding mass 600
may rest
inside barrel 310. Such portion of sliding mass may simulate this extra
"missing"
weight in barrel 310 with the extra weight from the stator of linear motor 500
assisting as well. When user fires system 10, sliding mass 600 moves from
barrel 310
towards the rear of simulated firearm body 20 and is stopped by stop 800 that
is even
with the beginning of the stock. Sliding mass 600 may then return to its
initial
position and create a seamless effect for user 5 that the weight distribution
of the gun
"feels" correct when the gun is not being fired. Furthermore, since the weight
distribution of simulated firearm body 20 changes during the course of the
recoil/shock effect, additional backward load may be perceived by user 5
enhancing
the perceived recoil/shock effect of the linear motor. This is due to the
linear motor
slider moving towards the mechanical stop with high acceleration, unbalancing
the
firearm toward the back end of the simulator, and then striking the mechanical
stop
causing the front of the simulated firearm to rise as shown in Figures 18 to
21. When
the simulated firearm rises, additional static load toward the ground may be
placed on
the shoulder of user 5 by the change in the center of gravity, giving user 5
the
perception of an increased recoil effect from the linear motor striking the
mechanical
stop and the new angular distribution of weight. Moreover, the slider may
return to its
original position to complete the recoil cycle and this also applies
additional force
onto user 5. While the figures discussed above show a rifle, the same
principles may
be applied to the various different firearms and devices discussed herein,
mainly
positioning the linear motor in a device, controlling the position of the
sliding mass
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and/or positioning the mechanical stops to optimize a particular haptic effect
for a
particular device and user.
In different embodiments, the location of linear motor 500 may be moved
from the hand grip position, such as in stock 220, or farther up into the
receiver if
necessary.
Figure 9 is a side view of one embodiment of a simulated firearm body 20.
The amount of linear travel of sliding mass 600 may be schematically indicated
by
arrows 660. In this view, the actual position 666 of second end 620 of sliding
mass
600 is schematically shown by "time dependent" vertical line 666" indicating
the
transient position of second end 620 of sliding mass 600 in length of travel
660.
Arrow 1320 schematically represents a time dependent recoil force which may be
created by time dependent acceleration of sliding mass 600 by linear motor
500. Clip
650 may be removed from sliding mass 600 before or after installation of
linear motor
500 to allow, if desired, during control of sliding mass 600, first and second
ends 610,
.. 620 of sliding mass 600 to enter plurality of coils 520 of linear motor 500
between
first and second ends 530, 534 of plurality of coils 520.
Figure 10 is a schematic flow diagram of various operation of the simulated
firearm system shown in Figure 1. In one embodiment, controller 50 may be
programmed to control linear motor 500 to control kinematic movement of
sliding
mass 600 within length of free travel 660 of sliding mass 600 to cause sliding
mass to
create a desired reactionary force versus time curve, where such force versus
time
curve may simulate a force versus time curve of a particular bullet fired in a
particular
firearm being simulated. Linear motor 500 may include controlled sliding mass
600
along with motor logic controller 504. Motor logic controller 504 may be
operatively
connected to controller 50. Power supply 60 (e.g., 24 volts) may be connected
to both
linear motor's logic controller 504 and controller 50. Because of the larger
current
demand of the linear motor 500 stator, a separate power supply 60 (e.g., 72
volts) may
be connected to linear motor 500.
Sequencing
Figures 11 to 15 are sequencing side views showing the sliding mass 600 of
the linear motor 500 at four different positions relative to simulated firearm
body 20.
In one embodiment, system 10 may be programmed to simulate recoil for
different
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ammunition types that a user 5 may use in a particular rifle. Programming of
system
may be accomplished by measuring the force vs. time of an actual round in a
particular weapons system to be simulated by system 10 and by using the "free
recoil"
formula to determine the energy produced by the actual firearm system to be
5 simulated. Once the force vs. time of the actual firearm system to be
simulated is
known and the free recoil of the actual system is known, then system 10 may be
programmed to cause sliding mass 600 to create reactionary forces that
substantially
match the same or similar force vs. time and free recoil energy that should be
delivered to user 5. This method may give the same perceived recoil as the
live
10 ammunition fired from the actual firearm being simulated for user 5.
Accordingly, by changing the stroke distance, velocity, acceleration, and/or
deceleration at preselected time intervals or points of sliding mass 600, the
reactive
recoil force imparted to user 5 from simulated firearm body 20 may be
controlled.
This reactive recoil force may be controlled to mimic or simulate:
(1) the recoil force generated by a particular type of ammunition round in
the particular firearm being simulated;
(2) the recoil force generated by different types of ammunition rounds in
the particular firearm being simulated; which different types of ammunition
rounds
may use more gun powder/less gun powder or use a higher weight bullet/lower
weight
bullet or some combination of both.
The different types of recoil forces may be simulated by merely having linear
motor 500 change the dynamic movements of sliding mass 600 over time. For
example, if a larger force is desired at a particular point in time during the
recoil time
period at such particular point in time linear motor merely increases the
instantaneous
acceleration of sliding mass 600 to cause such reactionary force.
Figure 16 is a graph plotting hypothetical recoil force versus time (shown via
the square tick marts) of a first round of ammunition along with force versus
time
caused by the linear motor kinematically controlling dynamics of the sliding
mass
(shown via the triangular tick marks). Figure 16 may be compared to sequencing
Figures 11 to 15. At time zero, second end 620 of sliding mass 600 is as shown
in
Figure 11 at position 666, and has just started to accelerate in the opposite
direction of
arrow 1300 (causing a reactive force in the direction of arrow 1300 to be
imposed on
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simulated firearm body 20 and user holding body 20). Linear motor 500 causes
second end 620 of sliding mass 600 to accelerate and move in the opposite
direction
of arrow 1300 until second end 620 reaches position 666' (shown in Figure 12)
having
contact with first end 810 of stop 800. Immediately before reaching 666',
acceleration
of sliding mass 600 causes a reactive force in the direction of arrow 1300
(shown at
time 16 milliseconds in Figure 16 and in a negative reactive force). However,
immediately after impact between second end 620 and first end 810, such
collision/contact causes an acceleration of sliding mass 600 in the opposite
direction
of arrow 1310 creating a reactive force in the direction 1310 (shown between
times 16
and 36 milliseconds in Figure 16 and being a positive reactive force). During
this
same time period of contact/collision between second end 620 and first end
810,
linear motor 500 may independently accelerate sliding mass in the opposite
direction
of arrow 1310 (adding to the reactive force 1310 shown in Figure 12 by force
vectors). From times 36 to 66 milliseconds on the graph shown in Figure 16,
controller 50 may be programmed to cause linear motor 500 to control
acceleration of
sliding mass 500 to create the desired simulated recoil reactive forces.
Figure 13 shows second end 620 at position 666" where linear motor may
cause sliding mass 600 to accelerate to create a reactive force shown at 41
milliseconds in Figure 16. Figure 14 shows second end 620 at position 666'
where
linear motor may cause sliding mass 600 to accelerate to create a reactive
force shown
at 56 milliseconds in Figure 16. Figure 15 shows second end 620 at starting
position
666 for the next recoil cycle. Now between possible 666' shown in Figure 14 to
position 666 shown in Figure 15, linear motor 500 may have to accelerate
sliding
mass in the direction of arrow 1330 (to eventually slow and then stop sliding
mass
600 at position 666 to be ready for the next recoil cycle). However, such
slowing
acceleration may be controlled to a minimum to minimize the amount of negative
reactive force imposed on simulated firearm body 20 and user 5. Such negative
reactive force is not shown in Figure 16 and may be relatively small. In such
manner,
the amplitudes and timing of such amplitudes of recoil forces experienced by a
user
firing a particular type of bullet in a particular firearm may be simulated by
programmed kinematics of sliding mass 600 being controlled by linear motor
500.
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To simulate multiple firing cycles, the linear motor 500 may control dynamic
movement of sliding mass 600 to create repeated force versus time
patterns/diagrams
of kinematic movement of sliding mass 600 for the desired number of times or
cycles.
Figure 17 is a graph plotting hypothetical recoil force versus time (shown via
the square tick marks) of a first round of ammunition along with force versus
time
caused by the linear motor kinematically controlling dynamics of the sliding
mass
(shown via the triangular tick marks). Figure 17 shows a different bullet with
different
force versus time curve to be simulated by programmed linear motor 500
controlling
kinematic movement of sliding mass 600. Additionally, the overall period of
the curve
may be different from 66 milliseconds and may change depending of the recoil
characteristics of the fireaun being simulated firing a particular bullet.
The ability of linear motor 500 to create reactive forces with sliding mass
600
may be further enhanced by the alternating of the mass of sliding mass 600. In
one
embodiment, the different overall lengths for sliding mass 600 may be used
(with the
longer length option having a greater mass). With a greater mass for a given
acceleration of such mass the reactive force created is found by the formula
force
equals mass times acceleration. In various embodiments, sliding mass 600 may
be 270
mm in length slider, or may be 350 mm in length, and such optional sliding
masses
600, 600' may be interchanged with linear motor 500 to modify the mass of the
sliding mass 600. The 270 mm sliding mass 600 has a mass of 215 grams and the
350
mm sliding mass 600' has a mass of 280 grams. The change in mass gives rise to
different reactive forces caused by acceleration, and different free recoil
energies,
which may be used to better approximate the force vs. time curve produced by
certain
rounds of ammunition.
Additionally, the length of sliding mass 600 changes the overall acceleration
and length of travel 660 linear motor 500 has to approximate the force vs.
time curve
produced by particular rounds of ammunition.
With a shorter sliding mass 600, linear motor 500 may achieve higher
velocities due to the longer acceleration time and thus give larger values of
free recoil
energy to the user.
The maximum reactive forces for different sliding masses 600,600' may be
computed as follows:
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Etgu = 0.5 * mgõ * vg2
Since there will be no powder or velocity of the powder charge, these
corresponding
values (ve & Inc) go to zero, resulting in the standard kinetic energy formula
K =
(0.5*m*v2 ) . The maximum values achieved for Etgi, are as follows for both
sliders:
Sliding Mass Sliding Mass Sliding Mass Overall Mass Free
Length Mass Acceleration of Firearm Recoil
270 mm 215 grams 7.35 m/s2 1.5 kg 2.539J
350 mm 280 grams 7.4 m/s2 1.5 kg 4.071 J
Figures 18 to 21 are schematic sequencing diagrams illustrating an individual
5 repetitively firing of a firearm simulating body 20 with recoil causing
increasing
loss of accuracy with repetitive shots. These figures schematically show a
simulating
training exercise via semi-auto-burst fire modes with electronic recoil to
train an
individual 5 for accuracy.
One embodiment uses firearni simulating body 20 with linear motor 500
simulating an M4A1 rifle firing a particular type of bullet (although other
types of
firearms and bullets are envisioned in different embodiments). In one
embodiment,
selector switch 450 may have three modes of operation (1) semiautomatic, (2)
burst,
and (3) fully automatic. Schematically shown in Figures 18 to 21 is a user
fire after
selecting burst mode. In burst mode (2), a series of three simulated bullet
firings may
be performed by system 10.
User 5 selects which type of simulation for this particular firearm is desired
by
using selector switch 450. As schematically shown in Figure 18, user 5 may aim
simulated firearm body 20 at target area 1400. User 5 may then pull on trigger
170
which is connected to trigger switch 172, sending a signal to controller 50.
Controller
50 may control linear motor 500 which in turn may control sliding mass 600.
Controller 50 may also control laser emitter 1200. Aiming may be translated to
system via laser emitter, magnetic tracking, optical tracking, 3D laser
tracking, etc.
Many types of tracking systems may be used / incorporated into the present
disclosure. For example, positioning systems may be used that incorporate
positioning
technology to determine the position and orientation of an object or person in
a room,
building or in the world. Time of flight systems determine the distance by
measuring
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the time of propagation of pulsed signals between a transmitter and receiver.
When
distances of at least three locations are known, a fourth position may be
determined
using trilateration. In other embodiments, optical trackers, such as laser
ranging
trackers, may also be used. However, these systems often suffer from line of
sight
problems and their performance may be adversely affected by ambient light and
infrared radiation. On the other hand, they do not suffer from distortion
effects in the
presence of metals and may have high update rates because of the speed of
light. In
other embodiments, ultrasonic trackers may also be used. However, these
systems
have a more limited range because of the loss of energy with the distance
traveled.
They may also be sensitive to ultrasonic ambient noise and have a low update
rate.
But the main advantage is that they do not need line of sight. Systems using
radio
waves such as the Global navigation satellite system do not suffer because of
ambient
light, but still need line of sight. In other embodiments, a spatial scan
system may also
be used. These systems may typically use (optical) beacons and sensors. Two
categories may be distinguished: (1) inside out systems where the beacon is
placed at
a fixed position in the environment and the sensor is on the object and (2)
outside in
systems where the beacons are on the target and the sensors are at a fixed
position in
the environment. By aiming the sensor at the beacon, the angle between them
may be
measured. With triangulation, the position of the object may be determined. In
other
embodiments, inertial sensing systems may also be used and one of their
advantages
is that they do not require an external reference. Instead, these systems
measure
rotation with a gyroscope or position with an accelerometer with respect to a
known
starting position and orientation. Because these systems measure relative
positions
instead of absolute positions, they may suffer from accumulated errors and are
therefore subject to drift. A periodic re-calibration of the system may
provide more
accuracy. In other embodiments, mechanical linkage systems may also be used.
These systems may use mechanical linkages between the reference and the
target.
Two types of linkages may typically be used. One is an assembly of mechanical
parts
that may each rotate, providing the user with multiple rotation capabilities.
The
orientation of the linkages may be computed from the various linkage angles
measured with incremental encoders or potentiometers. Other types of
mechanical
linkages may be wires that are rolled in coils. A spring system may ensure
that the
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wires are tensed in order to measure the distance accurately. The degrees of
freedom
sensed by mechanical linkage trackers are dependent upon the constitution of
the
tracker's mechanical structure. While six degrees of freedom are most often
provided,
typically only a limited range of motions is possible because of the
kinematics of the
joints and the length of each link. Also, the weight and the defonnation of
the
structure may increase with the distance of the target from the reference and
impose a
limit on the working volume.
In other embodiments, phase difference systems may be used. These systems
measure the shift in phase of an incoming signal from an emitter on a moving
target
compared to the phase of an incoming signal from a reference emitter. With
this the
relative motion of the emitter with respect to the receiver may be calculated.
Like
inertial sensing systems, phase-difference systems may suffer from accumulated
errors and are therefore subject to drift, but because the phase may be
measured
continuously they are able to generate high data rates. In yet other
embodiments,
direct field sensing systems may also be used. These systems use a known field
to
derive orientation or position: a simple compass uses the Earth's magnetic
field to
know its orientation in two directions. An inclinometer may use the Earth's
gravitational field to determine its orientation in the remaining third
direction. The
field used for positioning does not need to originate from nature, however. A
system
of three electromagnets placed perpendicular to each other may define a
spatial
reference. On the receiver, three sensors measure the components of the
field's flux
received as a consequence of magnetic coupling. Based on these measures, the
system
may determine the position and orientation of the receiver with respect to the
emitters'
reference. Because each system described herein has its pros and cons, most
systems
may use more than one technology. A system based on relative position changes
like
the inertial system may need periodic calibration against a system with
absolute
position measurement.
Systems combining two or more technologies are called hybrid positioning
systems and may be used with the various embodiments of the present disclosure
described herein. In one embodiment, magnetic tracking may be used with
firearm
peripheral body 20 and substantially track its motion profile. In embodiments,
optical
tracking of peripheral body 20 may be accomplished by placing optical markers
on
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body 20 in key points that may not be obstructed by user 5 and may allow pre-
programmed cameras (optical trackers) to successfully track the orientation of
body
20 for gaming and simulations training. In an embodiment, direct field sensing
may
be used to track body 20 through a gyroscopic sensor -or other inertial sensor
placed on body 20 to gauge the change in angular orientation and by magnetic
tracking placed on body 20. Both sensors add to the achievable resolution for
tracking
body 20. In one embodiment, direct field sensing (magnetic & inertial
tracking) may
be used together with optical tracking to track firearm peripheral body 20 for
enhanced resolution of position of body 20 in 3D space by using the optical
tracking
to calibrate the direct field sensing trackers with an absolute positioning
reference and
thereby avoiding drift. In exemplary embodiments, body 20 may be any type of
simulated body providing haptic effects according to the present disclosure,
including
gaming devices/peripherals or firearms.
Controller 50 may control linear motor 500 causing sliding mass 600 to
traverse pre-programmed kinematic movements creating reactionary forces in
accordance with a predefined reactionary force versus time in an effort to
simulate the
recoil forces that an individual would experience actually simulating the
particular
bullet for the particular gun. Controller 50 may also be connected to an
infrared laser
system 1200 which may be in phase with user 5 pulling trigger 170. Laser 1200
may
simulate on the target screen (area 1400 or 1410) where a bullet would have
traveled
from simulated firearm body 20. If laser 1200 is replaced with optical or
magnetic
aiming (tracking/positioning), coordinates of the firearm peripheral's
location in 3D
space may be translated into game play simulations for accurate tracking of
facade
body 20. This may allow trigger 170 to be pulled by user 5 and an accurate
calculation of bullet trajectory may be performed and inserted into the
simulation for
real-time tracking and game play.
In Figure 19, the first of the three simulated burst rounds, laser 1200 may
shoot laser line 1220 and have a hit 1221 in target area 1400. In Figure 20,
the second
of the three simulated burst rounds, laser 1200 may shoot laser line 1230 and
have a
hit 1231 in target area 1400 (but closer to non-target area 1410). In Figure
21, the
third of the three simulated burst rounds, laser 1200 may shoot laser line
1240 and
have a hit 1241 in non-target area 1410. Arrow 1350 schematically represents
the
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simulated recoil placed on body 20 causing aim of user 5 to degrade. With
repeated
use of system 10, user 5 may become accustomed to the simulated recoil and
adjust
his aim.
In an actual training exercise, the projection system may simulate "target
space" and "non-target" space for user 5. If user 5 fires off of the screen
1400, this
may count as "non-target" space 1410. These targets 1400 may be either moving
or
stationary and may vary greatly in size and shape. However, the projection
system
may count the total number of bullet strikes (e.g., 1221, 1231) in target
space and
non-target space and add them. This allows for the following formula to be
used to
determine accuracy for user 5:
Accuracy = [[Total ¨ (non-target space)] / Total] * 100%
For example, if the user fired a total of 10 shots, corresponding to 4 shots
in
the target space 1400 and 6 shots in the non-target space 1410, the formula
would
read:
Accuracy = [[ 1 0-6] / 10] * 100%.
This simulation would give the user an accuracy of 40%. Since a real recoil
effect
may be produced and knock the user's sights off of the target space 1400 for
which he
is aiming, system 10 may help to train user 5 to become more accurate in
firing actual
firearm system without the need to fire live ammunition. In one embodiment,
the
projection system described herein may be made up of a computer system and a
visual
display system.
Located inside barrel 310 may be laser emitter 1200. Laser emitter 1200
assembly may include a circuit board, a battery box, a switch, and a laser
emitter.
Laser emitter 1200 may be preferably housed within barrel 310, and may be
oriented
to emit a laser beam substantially parallel to and coaxial with the
longitudinal
centerline of barrel 310.
Accordingly to exemplary embodiments of the present disclosure, using
tracking systems, or combinations thereof as described herein, a user and/or
apparatus
may be tracked in real time for gaming and/or simulation purposes. For
example,
tracking of user locomotion that may be translated into the simulation may be
achieved via controls on firearm peripheral body 20 through joysticks or
through
magnetic or optical tracking of body 20. User 5 may also be tracked directly
by
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magnetic or optical tracking instead of indirectly by applying the tracking
only to
firearm body 20. Thus, by adding additional locomotion - other than 2D
stationary
aiming via laser 1200 - a more immersive and comprehensive level of realism
may be
obtained in game play and training simulation. While firearm peripheral body
20 is
discussed in the example above, other devices, including the gaming devices
described herein, may be tracked.
Furthermore, virtual reality scenarios using head-mounted displays (HMDs)
and projection based displays also called optical head-mounted displays
(traditional
screen displays / projection systems that have been miniaturized and affixed
to the
user's head) are increasingly becoming necessary for generating ever more
accurate
and successful simulation and game play environments. Such new display systems
may include a head-mounted display (or helmet-mounted display, for example for
aviation applications) that is a display device, worn on the head or as part
of a helmet,
which may have a small display optic in front of one (monocular HMD) or each
eye
(binocular HMD). An optical head-mounted display (OHMD) may also be used,
which is a wearable display that has the capability of reflecting projected
images as
well as allowing the user to see through it. A typical HMD may have either one
or two
small displays with lenses and semi-transparent mirrors embedded in a helmet,
eyeglasses (also known as data glasses) or visor. The display units may be
miniaturized and may include CRT, LCDs, Liquid crystal on silicon (LCos), or
OLED. Some vendors may employ multiple micro-displays to increase total
resolution and field of view. HMDs differ in whether they can display just a
computer
generated image (COI), show live images from the real world or a combination
of
both. Most HMDs display only a computer-generated image, sometimes referred to
as
a virtual image. Some HMDs may allow a CGI to be superimposed on a real-world
view. This may sometimes be referred to as augmented reality or mixed reality.
Combining real-world view with CGI may be done by projecting the CGI through a
partially reflective mirror and viewing the real world directly. This method
is often
called Optical See-Through. Combining real-world view with CGI may also be
done
electronically by accepting video from a camera and mixing it electronically
with
CGI. This method is often called Video See-Through.
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An optical head-mounted display may use an optical mixer made of partly
silvered mirrors. It has the capability of reflecting artificial images as
well as letting
real images to cross the lens and let the user look through it. Various
techniques have
existed for see-through HMD's. Most of these techniques may be summarized into
two main families: "Curved Mirror" based and "Waveguide" based. The curved
mirror technique has been used by Vuzix in their Star 1200 product and by
Laster
Technologies. Various waveguide techniques have existed for some time. These
techniques include but are not limited to diffraction optics, holographic
optics,
polarized optics, and reflective optics.
Major HMD applications include military, governmental (fire, police, etc.) and
civilian/commercial (medicine, video gaming, sports, etc.).
Ruggedized HMDs are increasingly being integrated into the cockpits of
modern helicopters and fighter aircraft, and are usually fully integrated with
the pilot's
flying helmet and may include protective visors, night vision devices and
displays of
other symbology.
Engineers and scientists use HMDs to provide stereoscopic views of CAD
schematics. These systems may also be used in the maintenance of complex
systems,
as they can give a technician what is effectively "x-ray vision" by combining
computer graphics such as system diagrams and imagery with the technician's
natural
vision. There are also applications in surgery, wherein a combination of
radiographic
data (CAT scans and MRI imaging) may be combined with the surgeon's natural
view
of the operation, and anesthesia, where the patient's vital signs may be
within the
anesthesiologist's field of view at all times. Research universities often use
HMDs to
conduct studies related to vision, balance, cognition and neuroscience.
Low cost HMD devices are available for use with 3D games and entertainment
applications. One of the first commercially available HMDs was the Forte VFX-1
which was announced at Consumer Electronics Show (CES) in 1994. The VFX-1 had
stereoscopic displays, 3-axis head-tracking, and stereo headphones. Another
pioneer
in this field was Sony Corporation, who released the Glasstron in 1997, which
had as
an optional accessory a positional sensor which permitted the user to view the
surroundings, with the perspective moving as the head moved, providing a deep
sense
of immersion.
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One application of this technology was in the game MechWarrior 2, which
permitted users of the Sony Glasstron or Virtual I/0 Inc.'s iGlasses to adopt
a new
visual perspective from inside the cockpit of the craft, using their own eyes
as visual
and seeing the battlefield through their craft's own cockpit. Many brands of
video
glasses may now be connected to video and DSLR cameras, making them applicable
as a new age monitor. As a result of the glasses ability to block out ambient
light,
filmmakers and photographers are able to see clearer presentations of their
live
images.
The Oculus Rift is an upcoming virtual reality (VR) head-mounted display
.. created by Palmer Luckey, and being developed by Oculus VR, Inc. for
virtual reality
simulations and video games. VR headsets are also planned for use with game
consoles like the Xbox One and the PS4 .
A key application for HMDs is training and simulation, allowing for virtual
placement of a trainee in a situation that may either be too expensive or too
dangerous
to replicate in real-life. Training with HMDs cover a wide range of
applications,
including but not limited to driving, welding and spray painting, flight and
vehicle
simulators, dismounted soldier training, and medical procedure training.
Embodiments of the present disclosure may be used with the foregoing
systems. In an embodiment, a HMD may be used in a simulation system that
incorporates a peripheral body 20, including a linear motor recoil/shock
system, and
allows user 5 to fire with 3D positional tracked body 20 at simulated targets
inside a
3D virtual space while generating recoil to emulate gun fire. In one
embodiment, a
FIMD may be used in a gaming system that incorporates a 3D positional tracked
peripheral gaming body, including a linear motor recoil/shock system, and
allows user
5 to interact with the virtual space by generating haptic output via linear
motor 500
with interactions from the virtual space. In an embodiment, the virtual space
may be
controlled and generated by a computer system to send the visual information
to the
HMD or other visual system. In another embodiment, the virtual space may gain
positioning data from the tracking methods described herein, and may send that
positioning data to the computer which may then update the virtual space and
may
send that visual information of the virtual space to the HMD or other visual
system. In
another embodiment, the simulation system described herein may include a
computer
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system. In another embodiment, the simulation system described herein may
include a
computer system running a virtual simulation, a visual display, a tracking
system, a
linear motor that includes a sliding mass, and a controller controlling the
movement of
the linear motor's sliding mass. In another embodiment, the gaming system
described
herein may be a computer system.
In exemplary embodiments, a typical cyclic rate for full automatic fire with a
low cyclic rate is approximately 600 rounds per minute. A typical cyclic rate
for full
automatic fire at a high cyclic rate is approximately 900 rounds per minute,
approximately simulating the cyclic rate of an M-4A1, AR-15, and/or M-16
rifle.
The firearms training simulator therefore simulates the recoil, cyclic rate,
configuration, controls, and mode of operation of the firearm for which it is
intended
to be used to train a shooter. The training simulator may further provide the
opportunity to conduct decision-making training scenarios projected on a
screen, with
the safety and reduced facilities cost of using a laser instead of live
ammunition, while
duplicating a sufficient number of the characteristics of a conventional
firearm so that
the training may effectively carry over to a conventional firearm.
In additional embodiments, systems are provided that may be incorporated
into existing structures, including structures designed for providing recoil
using
pneumatics. Referring to simulator 10 in Figure 1, controller 50 may be
attached
either in a wired or wireless communication type configuration as described
herein to
an existing system's infrastructure as well as to linear motor 500.
Embodiments
include configurations where the components of controller 50 may also be
located
within body 20 of the simulator 10. The existing infrastructure may be
connected to
the simulations / gaming computer that may keep track of in game / in
simulation
statistics for user 5. Depending on particular installations/applications, the
existing
infrastructure may include communications / power receptacles (for e.g., on
the floor /
wall / hanging from ceiling, etc.) where pneumatic systems previously plugged
into
for communication to the simulations / gaming computer. In some embodiments,
controller 50 may plug into these receptacles for communication to the
simulations /
gaming computer. Once the simulations / gaming computer is connected to
controller
50, either in a wired / wireless or hybrid configuration, it may then keep
track of
system 10 for evaluation of user 5. For example, computer may determine how
many
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rounds have been spent by user 5 in the training exercise, whether user 5 is
properly
squeezing the trigger based on accelerometer or comparable sensor data from
the
trigger, and / or if user 5 has taken a hit from in game / in simulation
targets. Figure
51 is a diagram illustrating data collection from user 5 on the left side,
while leaving
the right side of the diagram (motor feedback from the game / simulation) open
for
more immersive feedback from the linear motor 500 in additional scenarios /
gameplay.
Figure 22 is a perspective view of another embodiment of a linear motor 500
and sliding mass 600. Linear motor 500 may include sensors 550 and 552, which
may
be Hall Effect sensors. Figure 23 is a perspective view of a sliding mass 600
with
exemplary plurality of magnets 640 removed. Figure 24 is an enlarged
perspective
view of the sliding mass 600 with exemplary magnets 640 removed. In Figures 23
and 24, the plurality of magnets 640 (e.g., magnets 642, 644, 646, etc.) may
include
neodymium. Additionally, between pairs of magnets 640 may be spacers (e.g.,
spacer
643 between magnets 642 and 644, and spacer 645 between magnets 644 and 645).
In
a preferred embodiment, the spacers may include iron (such as ferromagnetic
iron). In
embodiments, plurality of magnets 640 may be aligned so that like poles face
like
poles (i.e., north pole to north pole and south pole to south pole). As shown
in Figures
23 and 24, starting from the left hand side, left pole of first magnet 640 is
north and
right pole of the first magnet 640 is south. In the middle, left pole of
second magnet
640 is south and right pole of the second magnet 640 is north. Finally, in
third magnet
640 located at the rightmost portion, left pole of third magnet 640 is north
and right
pole of the third magnet 640 is south. In exemplary embodiments, the pattern
of like
magnetic poles facing like magnetic poles repeats throughout slider 600. Thus,
the
plurality of magnets 640 contained in slider/driven mass 600 may have similar
poles
facing each other creating a repelling force. In a preferred embodiment, the
outer shell
of sliding mass 600 may longitudinally hold the plurality of magnets 640 and
spacers
securely together. In an embodiment, the outer shell may be stainless steel
which may
be a non-magnetic material that does not substantially interfere with the
magnetic
forces between plurality of coils 520 of linear motor 500 and plurality of
magnets 640
of sliding mass 600. In one embodiment, the sliding mass 600 may use a
combination
of magnetic materials, for instance neodymium magnets and ceramic magnets,
such
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that for a known set of movements the arrangement of magnets may lower the
cost of
production while substantially maintaining the acceleration profiles required
for the
known set of movements. For instance, if the initial movement requires high
acceleration of sliding mass 600, a slider 600 may be chosen such that the
most
expensive and strongest magnets sit within the coil(s) of linear motor 500
prior to
movement. This allows a high energy input into the linear motor system that is
efficient at accelerating the sliding mass 600 to high speed and may then use
the
ceramic magnets to bring the neodymium magnets back to the center of the
coil(s) at
lower velocity, ready for the next recoil/shock effect movement.
Figure 22 represents a linear motor system with linear motor 500 and sliding
mass 600. Figure 60 shows sliding mass 600 including four magnets. As shown,
two
neodymium magnets are in the center and two ceramic magnets are on each end.
The
two neodymium magnets start inside the stator for each movement. This may
allow
the strongest magnets to accelerate sliding mass 600 quickly during the
initial part of
the linear motor system's stroke. When a ceramic magnet is reached, linear
motor 500
may still have control of sliding mass 600 and may return the slider to its
initial
starting position with the neodymium magnets in the center of the stator. This
allows
for higher cost neodymium magnets to be conserved while using low cost ceramic
magnets to allow linear motor 500 to perform at substantially the same
functionality
for recoil/shock effect and haptic feedback movements.
In one embodiment, the sliding mass 600 may have different length magnets
of different types of magnets.
In an embodiment, the sliding mass 600 may have neodymium and ceramic
magnets of the same length that are set in the linear path to produce the most
efficient
single recoil/shock effect or haptic feedback effect possible.
In another embodiment, the sliding mass 600 may have neodymium and
ceramic magnets of different lengths that are set in the linear path to
produce the most
efficient single recoil/shock effect or haptic feedback effect possible.
In embodiments, the linear motor 500 may be modified such that the coil(s)
give the most efficient energy transfer possible for both magnet types.
In an embodiment, the linear motor 500 may be modified such that the coil(s)
give the most efficient energy transfer possible for one magnet type.
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In one embodiment, the sliding mass 600 may have multiple magnetic
materials (neodymium, ceramic, etc.) in multiple configurations (changes in
length
and order) to produce efficient recoil/shock effects or haptic feedback
effects.
Figures 25 to 29 schematically show operation of linear motor 500 and sliding
mass 600 as the plurality of magnets 640 are driven by the plurality of coils
520.
Figure 25 is a schematic diagram illustrating operation of the plurality of
coils 520 in
a linear motor 500. Figures 26 and 27 are schematic diagrams illustrating
operation
of the coils 520 in a linear motor 500 in two different energized states.
In Figure 25, coils 521, 523, and 525 in the stator of linear motor 500 may be
wired in series and labeled as phase 1 (when wired together in series these
coils of
phase 1 may be considered sub-coils of a single independently controllable
magnetic
coil). Coils 522 and 524 may also be wired in series and labeled as phase 2
(when
wired together in series these coils of phase 2 may be considered sub-coils of
a single
independently controllable magnetic coil). The plurality of independently
controllable
magnetic coils 520 of linear motor 500 may be wound in the same or different
direction depending on design. Each independently controllable coil in phase 1
and 2
may produce its own magnetic field when energized. This allows for
independently
controllable magnetic coils of phase 1 and 2 in the plurality of coils 520 to
repel each
other or for phase 1 and phase 2 coils to attract each other depending on the
way the
phases are polarized and the coils wound. These alternative states of
polarization are
shown in Figures 26 and 27. In Figure 26, phase 1 and phase 2 are polarized in
the
same direction so that coils in the two phases are attracted to each other. In
Figure 27,
phase 1 and phase 2 are polarized in the opposite direction so that coils in
the two
phases repel each other. By varying the polarization of phases in the
plurality of
independently controllable magnetic coils 520 of linear motor 500, sliding
mass 600
may be controllably moved as desired through the plurality of coils 520 so as
to create
the desired reactive forces which may include time dependent controlled force
(impulse), acceleration, velocity, position, and/or momentum.
Figures 28 and 29 are schematic diagrams illustrating movement of the
plurality of magnets 640 of sliding mass 600 through the plurality of coils
520 in
linear motor 520 in different energized states.
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Figure 28 schematically indicates initial movement of sliding mass 600 with
plurality of magnets 640 through plurality of coils 520 of linear motor 500.
In Figure
28, the first magnet 642 of sliding mass 600 enters plurality of coils 520 of
linear
motor 500. Plurality of coils 520 may then be energized with phase 2 polarized
as
shown and phase 1 not being energized (or OFF). This causes magnet 642 (and
sliding mass 600) to be pulled deeper into plurality of coils (schematically
indicated
by the arrow towards the right). As schematically shown in Figure 29, when
first
magnet 642 moves halfway into coil 522, phase 1 may be energized (or turned
ON),
thereby creating a pulling force on magnet 642 and speeding the second magnet
644
to the center of coil 521 while at the same time repelling the magnet 642. The
movement of sliding mass 600 eventually stops when the plurality of magnets
640
reach steady state with the plurality of coils 520, which in this case means
that the
north pole of coils 521 and 522 are aligned with the north poles of magnets
644 and
642, respectively; and north pole of coil 522 is aligned with south pole of
magnet 644
and south pole of coil 521 is aligned with the north pole of magnet 642. Thus,
the
magnetic forces are in equilibrium and movement ceases while phase 1 and 2
remain
energized with this polarization. So, by switching the coils ON/OFF and by
alternating the coils polarization, the slider (filled with neodymium magnets)
may be
pushed or pulled through the stator (made up of many coils). Furthermore, the
number
of coils depicted in Figures 25 through 29 through may be increased to have a
larger
accelerating cross-section.
In one embodiment, there may be two or more phases in linear motor 500.
In another embodiment, two phases in linear motor 500 may use two or more
coils 520.
The velocity, acceleration, and linear distance of sliding mass 600 may be
measured as a function of Hall Effect sensors 550 and 552 that are 90 degrees
out of
phase. Out of phase Hall Effect sensors 550 and 552 may each produce a linear
voltage in response to increasing or decreasing magnetic fields. Figure 22
shows the
mechanical alignment in linear motor 500 and sensors 550, 552. The response
that
sensors 550 and 552 give as a function of magnetic field strength (flux
through the
sensor) versus voltage (out of the sensor) is depicted in Figure 30, which is
a diagram
illustrating magnetic flux density versus voltage output.
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Figures 31 and 32 are exemplary diagrams of sensors 550 and 552 voltage
response versus time for a slider moving through the linear motor. When
sliding mass
600 is moved through the plurality of coils 520 of linear motor 500, 90 degree
out of
phase sensors 550 and 552 provide a voltage response versus time falling into
a Sine
or Cosine function as indicated in Figures 31 (sine(x) for sensor 550) and
Figure 32
(cosine(x) for sensor 552). These resultant waves are generated by sensors 550
and
552 because generated magnetic flux for the plurality of magnets 640 inside
sliding
mass 600 are most powerful at their magnetic poles. So as the north poles of
two
magnets approach, the wave goes positive and peaks when directly above those
poles.
Continuing in the same direction, as the south poles approach, the wave goes
negative
and peaks when directly above those poles. Thus, one sensor 550 gives a
function of
Sin(x) and the other sensor 552 gives a function of Cos(x). As shown, these
functions
are 90 degrees out of phase. Two sensors 550 and 552 may be used for better
precision feedback and control of sliding mass 600 through the plurality of
coils 520
of linear motor 500, and as a method to make sure sliding mass is continually
tracked
accurately.
To provide additional explanation, sensor 550 generating a sine wave is
plotted in Figure 31, and will be further examined regarding how this graph
may be
used to track velocity, acceleration, and displacement of sliding mass 600.
Figure 32
illustrates the cosine wave generated from sensor 552. Figure 33 is a diagram
of a
sample waveform which illustrates the various components of a waveform
generated
by sensor 550. The wavelength (X) relates to the velocity of sliding mass 600
through
plurality of coils 520 of linear motor 500. As the wavelength shortens, the
frequency
may be calculated by f = 1/k, and the frequency will increase as the
wavelength
shortens.
Figures 34 and 35 are exemplary diagrams of sensor 550 voltage response
versus time for a sliding mass 600 moving through linear motor 500 at two
different
constant linear speeds. For example, in Figure 34, sliding mass 600 may be
said to be
moving through plurality of coils 520 at 1 meter per second and generating
this wave.
Figure 35 may be generated as sliding mass 600 speeds up to 2 meters per
second. As
shown, an increase in wave frequency corresponds to the velocity with which
sliding
mass 600 is moving through the plurality of coils 520 of linear motor 500.
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Furthermore, the change in waveform from Figure 34 to Figure 35 relates to the
acceleration of sliding mass 600. Figures 34 and 35 each individually
represent
constant velocities of sliding mass 600 (although the constant velocity in
Figure 35 is
twice that of the constant velocity in Figure 34) so that in each of these two
figures,
there is no acceleration; however, as sliding mass 600 slider approached 2
meters per
second linear speed shown in Figure 35, the frequency increased to the value
in
Figure 35: that frequency change over time may be used to compute acceleration
of
driven mass 600. Lastly, the distance traveled by driven mass 600 may be
calculated
by knowing the length of the plurality of magnets 640 in sliding mass, and
counting
the number of wavelengths that go past sensor 550. Each wavelength may
correspond
to the full length of the permanent magnet inside the body of sliding mass
600.
Additionally, waveforms from both sensors 550, 552 may be used to keep slider
600
in a steady state (non-moving). By looking at the output of sensors 550, 552,
for
example, the sine and cosine waves may be compared since they are 90 degrees
out of
phase to maintain a steady state driving signal from controller 50 that does
not drift
(or compound error) based on the accuracy of two measurements rather than one.
Accordingly, velocity, acceleration, and distance may be calculated from
voltage
versus magnetic flux graphs of sensors 550, 552.
Emulating Overall Recoil Impulse
In one embodiment, linear motor 500 and sliding mass 600 may be used to
emulate total recoil impulse for a particular firearm firing a particular form
of
ammunition.
"Actual recoil force" is the force generated by a particular type of firearm
firing a particular type of ammunition at any point in time after firing where
such
force is transmitting to the user. Such actual recoil force may be plotted
over a
particular period of time from initial firing of the ammunition in the firearm
to the end
of any actual recoil force following such firing.
On the other hand, "generated recoil force" is the reactive force generated by
linear motor 500 controlling movement of sliding mass 600. Such generated
recoil
force may be transmitted to a user 5 holding simulated firearm body 20 of
simulator
system 10.
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Actual recoil impulse is the area under a force versus time diagram where the
force is generated by a particular type of firearm firing a particular type of
ammunition. Generated recoil impulse is the area under a force versus time
diagram
1600 of a reactive force generated by linear motor 500 controlling movement of
sliding mass 600 (e.g., acceleration, velocity, and distance) over time.
Figure 16 shows prophetic examples of diagrams for actual recoil force 1500
versus time, along with generated recoil force 1600 versus time. The area
under the
actual recoil force versus time diagram 1500 is the actual recoil impulse. The
area
under the generated recoil force versus time diagram 1600 is the generated
recoil
impulse. The area under the generated recoil impulse may be both positive
(above the
zero), and negative (below the zero). In a preferred embodiment, the negative
area
may be subtracted from the positive area in calculating total impulse. In
other
embodiments, the negative area may be ignored in calculating total impulse.
As shown, the force versus time diagrams 1500, 1600 of actual recoil over
time versus reaction forces generated by linear motor 500 and sliding mass 600
over
time closely track each other so that the impulse and reactive impulse are
approximately equal. However, in different embodiments, the actual recoil over
time
diagram 1500 versus reaction forces generated by linear motor 500 and sliding
mass
over time 1600 may substantially vary as long as both calculated impulses
(from the
areas under the diagrams) are close to each other at the end of the firing
cycle.
Figure 36 shows a single diagram with three force versus time plots: (1) force
versus time of actual forces 1500 (first plot for an M16/AR-15 type rifle
firing a 0.223
Remington bullet/round having an overall weight of about 7.5 pounds (3.4 kg)),
(2)
force versus time of generated reactive forces from linear motor and sliding
mass in
.. combination with a mechanical stop 1600, and (3) force versus time of
generated
reactive forces from linear motor and sliding mass without using a mechanical
stop
1600'. A positive value of force indicates a force pushing user 5 backward. As
shown
by the time, a firing cycle of about 90 milliseconds is used.
Diagram 1600 includes a spike 1610 when the sliding mass 600 hits the
mechanical stop 800, and the areas under each plot 1500, 1600 should be
roughly the
same to get the same overall impulse. For diagram 1600, time 1700 indicates
the
initial contact between sliding mass 600 and mechanical stop 800. In different
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embodiments, because the time period for the collision between sliding mass
600 and
mechanical stop 800 is so short (about less than 5 milliseconds), time of
initial contact
1700 may also be calculated using the time of peak reactive force 1620.
Figure 36 shows the peak 1520 of actual recoil force 1500 which is compared
to the peak 1620 of generated recoil force 1600, and the difference 1630
between such
peaks. In various embodiments, mechanical stop 800 may be used to generate a
spike
1610 in the generated recoil force, which spike 1620 has a difference of 1630
compared to the peak 1520 of actual recoil force 1500.
In various embodiments, peak 1620 may be such that the difference 1630 may
be minimized. In embodiments, during an emulated firing sequence, the
difference
1630 is less than 50 percent of the peak 1620. In various other embodiments,
the
difference 1630 is less than no more than 45, 40, 35, 30, 25, 20, 15, 10, 5,
4, 3, 2,
and/or 1 percent of the peak 1620. In embodiments, the difference 1630 may be
within range between any two of the above referenced percentages of peak 1620.
In various embodiments, the average generated recoil force by linear motor
500 controlling sliding mass 600 during a particular simulated firing sequence
before
initial contact of sliding mass 600 with mechanical stop 800 at time 1700 may
be
calculated by calculating the impulse up to initial impact at time 1700
divided by the
time at time 1700. In embodiments, the peak 1620 of generated reactive force
is at
least 50 percent greater than the average generated recoil force by linear
motor 500
controlling sliding mass 600 during a particular simulated firing sequence
before
initial contact of sliding mass 600 with mechanical stop 800 at time 1700. In
various
embodiments, the peak generated reactive force 1620 is greater than 55, 60,
65, 70,
75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 175, 200, 225, 250, 275,
300, 400,
500, 600, 700, 800, 900, 1000, 1200, 1500, and/or 2000 percent greater than
the
average generated recoil force by linear motor 500 controlling sliding mass
600
during a particular simulated firing sequence before initial contact of
sliding mass 600
with mechanical stop 800 at time 1700. In embodiments, a range between any two
of
the above referenced percentages may be used for such comparison.
The average generated recoil force by linear motor 500 controlling sliding
mass 600 during an entire particular simulated firing sequence may be
calculated by
calculating the impulse during the entire firing sequence and dividing the
time for
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such entire firing sequence. In various embodiments, the peak 1620 of
generated
reactive force may be at least 50 percent greater than the average generated
recoil
force by linear motor 500 controlling sliding mass 600 during an entire
particular
simulated firing sequence (i.e., both before and after initial contact of
sliding mass
600 with mechanical stop 800 at time 1700). In embodiments, the peak generated
reactive force is greater than 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110,
120, 130,
140, 150, 175, 200, 225, 250, 275, 300, 400, 500, 600, 700, 800, 900, 1000,
1200,
1500, and/or 2000 percent greater than the average generated recoil force by
linear
motor 500 controlling sliding mass 600 during an entire particular simulated
firing
sequence. In various embodiments, a range between any two of the above
referenced
percentages may be used for such comparison.
The average generated recoil force by linear motor 500 controlling sliding
mass 600 during a particular simulated firing sequence after initial contact
of sliding
mass 600 with mechanical stop 800 at time 1700 may be calculated by
calculating the
impulse following initial impact at time 1700 divided by the time following
time
1700. In embodiments, the peak 1620 of generated reactive force is at least 50
percent
greater than the average generated recoil force by linear motor 500
controlling sliding
mass 600 during a particular simulated firing sequence subsequent initial
contact of
sliding mass 600 with mechanical stop 800 at time 1700. In various
embodiments, the
peak generated reactive force is greater than 55, 60, 65, 70, 75, 80, 85, 90,
95, 100,
110, 120, 130, 140, 150, 175, 200, 225, 250, 275, 300, 400, 500, 600, 700,
800, 900,
1000, 1200, 1500, and/or 2000 percent greater than the average generated
recoil force
by linear motor 500 controlling sliding mass 600 during a particular simulated
firing
sequence subsequent to initial contact of sliding mass 600 with mechanical
stop 800
at time 1700. In embodiments, a range between any two of the above referenced
percentages may be used for such comparison.
Figure 37 is an exemplary diagram of an acceleration versus time plotted for
recoil acceleration for an actual firearm 1502, compared to simulated
acceleration of
the sliding mass caused by the method and apparatus using a mechanical stop
1602,
and not using a mechanical stop 1602'. Force from the acceleration diagrams
may be
calculated using the formula force equals mass times acceleration.
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Figure 38 is an exemplary diagram of a velocity versus time plotted for recoil
velocity for an actual firearm 1506, compared to simulated velocity of the
sliding
mass caused by the method and apparatus using a mechanical stop 1606, and not
using a mechanical stop 1606'.
In one embodiment, stop 800 may be employed to modify the generated recoil
force diagram from linear motor 500 controlling sliding mass 600 by sharply
increasing the reactive force at the point of collision between sliding mass
600 and
mechanical stop 800. A mechanical stop 800 may be employed inside the
simulated
fireaan body 20 to "rigidly" (i.e., more quickly negatively accelerate to zero
sliding
mass 600 than linear motor 500 is capable of) at the end of allowed length of
travel
660. Such quick stop produces an enhanced recoil effect on user 5, and higher
generated reactive force. In one embodiment, the reactive force generated by
sliding
mass 600 colliding with mechanical stop 800 may be greater than any force
generated
by linear motor 500 accelerating sliding mass 600 during an emulated firing
sequence.
In embodiments, during an emulated firing sequence, the maximum reactive
force generated by linear motor 500 accelerating sliding mass 600 is no more
than 50
percent of the reactive force generated by sliding mass 600 colliding with
mechanical
stop 800. In various embodiments, the maximum reactive force generated by
linear
motor 500 accelerating sliding mass 600 is no more than 55, 60, 65, 70, 75,
80, 85,
90, 95, 99, and/or 100 percent of the reactive force generated by sliding mass
600
colliding with mechanical stop 800. In other embodiments, the maximum reactive
force generated by linear motor 500 accelerating sliding mass 600 may be
within
range between any two of the above referenced percentages of the maximum
reactive
force generated by linear motor 500 controlling sliding mass 600.
In various embodiments, either actual recoil impulse and/or the generated
recoil impulse by linear motor 500 controlling sliding mass 600 are within
about 50,
55, 60, 65, 70, 75, 80, 85, 90, 95, and/or 100 percent of each other. In
various
embodiments, a range between any two of the above referenced percentages may
be
used.
In various embodiments, the total time for an emulated firing cycle by linear
motor 500 controlling sliding mass 600 may be less than about 200
milliseconds. In
embodiments, the maximum time for an emulated firing cycle may be less than
about
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25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120,
130, 140, 150,
160, 170, 180, 190, and/or 200 milliseconds. In embodiments, the maximum time
may be between any two of the above referenced times.
Emulating a force versus time plot of firearm.
In one embodiment, an actual firearm with actual ammunition may be tested
and the actual recoil force over time plotted. In this embodiment, linear
motor 500
and magnetic mass/shaft 600 movement (e.g., acceleration, velocity, and
position)
may be programmed so as to emulate the actual force versus time diagram that
was
obtained from the test. In different embodiments, the emulated force versus
time may
be within 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45, and/or 50 percent of
the plot. In
embodiments, the variation may be within a range between any two of the above
referenced values. Total impulse (which is the integral or sum of the area
under the
force versus time diagram) may be emulated for relatively short time sequences
as it
is believe that users have difficulty perceiving changes in force over time
for very
short time intervals regarding recoil forces, and effectively feel the overall
impulse of
the recoil force in firearms.
Changing the Strength of the Magnetic Field of Linear Motor
In one embodiment, the strength of the magnetic field generated by the
plurality of coils 520 of linear motor 500 as a magnet in magnetic mass/shaft
600
passes by and/or is in touch with a particular coil generating a magnetic
field may be
increased from an initial value. In different embodiments, the strength of the
field
may be changed by 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45, and/or 50
percent of the
initial value. In embodiments, the variation may be within a range between any
two of
the above referenced percentages.
Using Sensors To Directly/Indirectly Measure Dynamic Properties of Sliding
Mass
and Have Linear Motor Control Dynamic Properties of Sliding Mass Based on
Sensor
Input
In one embodiment, the acceleration, velocity, and/or position versus time of
the magnetic mass/shaft 600 may be measured directly and/or indirectly (such
as by
sensors 550 and/or 552), and linear motor 500 may change/set the strength of
the
magnetic field generated by plurality of coils 520 to achieve a predetermined
value of
acceleration, velocity, and/or position versus time for sliding mass 600. In
different
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embodiments, the predetermined values of emulated acceleration, velocity,
and/or
position versus time may be based on emulating a force versus time diagram
obtained
from testing an actual firearm (or emulating impulse). In embodiments, the
emulated
diagram may be within 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45, and/or 50
percent of
the plot. In different embodiments, the variation may be within a range
between any
two of the above referenced values.
Options To Program In Different Variations For Firearm to Be Simulated
In various embodiments, a user of system 10 may be provided one or more of
the following options in using system 10 regarding changes in a type of
firearm for
which recoil is to be simulated by system 10:
(a) different size/caliber/type of ammunition in actual type of firealin to be
simulated with particular type of ammunition.
(b) adding/removing a muzzle suppressor to actual type of firearm to be
simulated with particular type of ammunition.
(c) different size/type of bolt springs for actual type of firearm to be
simulated
with particular type of ammunition.
In each of the above options, system 10 may cause linear motor 500 to control
sliding
mass 600 to generate a recoil force versus time diagram (or generate an
impulse)
which is different from the simulation for the type of firearm without the
option
selected, and which approximates the recoil of the firearm having such option.
Using Same Core Simulation System With Different Firearm Model Attachments To
Provide User With Option Of Better Simulating Different Types of Firearms
Embodiments of the present disclosure provide for methods and apparatuses
including the same core simulation system described herein but having
different
firearm attachments for simulating different firearms. Here, using the same
controller
50 and attached linear motor 500, have different firearm attachments (e.g., AR-
15
rifle unit attachment, and Glock pistol unit attachment). Magnetic sliding
mass/shaft
600 slidably connected to the linear motor 500 may also be changed, without
also
changing the linear motor 500.
In various embodiments, simulator 10 may include a plurality of different
body attachments 20, 20', 20", etc. for simulating recoil patterns from a
plurality of
different type firearms, each of the plurality of body attachments being
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interchangeably operably connectable with linear motor 500. In embodiments,
each of
the plurality of body attachments 20, 20', 20", etc. may include unique
identifiers that
infoini controller 50 in the selection of one of a plurality of predefined
sets of recoil
simulating kinematic movements of sliding mass 600 in order to simulate a
recoil
pattern for the particular type of firearm that the particular body attachment
represents. Based on the unique identifier of the particular body attachment
20, 20',
20", etc, operably connectable to linear motor, controller 50 may select one
of the
plurality of predefined sets of kinematic movement to control linear motor 500
in
controlling sliding mass 600 to create a series of predefined movements for
sliding
mass 600 and emulate recoil for the particular type of firearm that the
particular
connected body attachment represents. In embodiments, the individual
identifiers may
be microcontrollers which, when a body attachment 20 is connected to linear
motor
500, communicate with microcontroller 50 (shown in Figure 10), and identify
the
particular type of firearm for which recoil is to be simulated. In one
embodiment, the
plurality of interchangeable different type body attachments 20, 20', 20",
etc. includes
a plurality of different type rifles. In embodiments, the plurality of
interchangeable
different type body attachments 20, 20', 20", etc. includes a plurality of
different type
shotguns. In one embodiment, the plurality of interchangeable different type
body
attachments 20, 20', 20", etc. includes at least one rifle body type and at
least one
shotgun body type and/or at least one pistol body type. In embodiments, the
plurality
of interchangeable different type body attachments 20, 20', 20", etc. includes
a
plurality of different type rifles and different type shotguns and/or pistols.
In various embodiments, wireless/communication may be provided for one or
more of the components of the method and apparatus 10 such as where the body
attachment 20 and/or linear motor 500 are not hard wired to the controller 50
but
these components are set up to communicate wirelessly between each other,
along
with one or more battery power supplies being used to power the linear motor
500
and/or controller 50 and/or other components. In one embodiment, the battery
power
supply for the linear motor may be contained in the body 20 (such as where the
battery simulates an ammunition clip to be inserted into body 20).
Handgun
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In an embodiment, a method and apparatus for charging or "cocking"
simulated handguns using a linear motor system 500 may be provided where the
linear motor 500 is in the path of cocking of the slider 900.
In one embodiment, a handgun 10 with linear motor 500 may be provided
having a mechanical sear 680 and spring 950. In embodiments, the spring 950
includes a spring constant emulating the force required to charge or "cock" a
slider
900 of the handgun being simulated. In other embodiments, the spring 950
includes a
spring constant which stores substantially the same amount of potential energy
as the
work energy required to charge or "cock" the slider 900 of the handgun being
simulated.
In embodiments, a handgun 10 may be provided with linear motor 500
emulating the spring constant of the force required to charge or "cock" the
slider 900
of the handgun being simulated. This may be accomplished by treating the
linear
motor as a simple spring. Figure 61 shows the force imparted on the user by
the
spring, Frestore, trying to return to its original location (x), which may be
described by
Hook's Law (F=-kx). The change in x or (Ax) determines the spring's force
pulling
back on the user, typically as the distance x increases so does Frestore until
material
defotn __ tation is reached.
This emulation of the charging spring by the linear motor may follow the
traditional spring used in the real handgun by varying its resistance force
over the
linear position of the motor's slider with a single spring constant k. Or the
motor may
emulate multiple spring constants 4.2..3... to emulate other mechanical
resistances
encountered in a typical handgun platform's linear movement associated with
charging or "cocking" the weapon slider 900. For instance, as the motor's
slider is
moved to position Ax it may apply a spring constant ki to the user by altering
the
force available to the motor to resist changes in slider position. Then as the
motor
slider is moved to position 2(Ax) it may apply a spring constant k2 to the
user varying
Frestore over the linear position. Thus, the traditional forces of the weapon
spring may
be emulated over the linear position with other mechanical forces figured in
as well.
Figure 39 is a side view of another embodiment of a simulated firearm 10
simulating a hand gun. Figure 40 is a side view of a simulated hand gun system
10,
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taken from the opposite side as shown in Figure 39. Figure 41 is an exploded
view of
the simulated hand gun system 10.
The smaller size of simulated hand guns may provide smaller spaces to
incorporate the elements of the method and apparatus, including but not
limited to the
linear motor 500, sliding rod/mass 600, and controls. Volumetric region 978
may
include controlling circuitry for the linear motor 500 and power supply 60
(taking the
place of controller 50 shown in the embodiment of figure 1). See, e.g., Figure
41. In
various embodiments, volumetric areas 970 and/or 974, in addition to (or
instead of)
volumetric area 978 may be used to house the controlling circuitry. This
configuration
may allow the entire control system to be housed in simulated firearm body 20
providing a compact property for the simulator.
Control circuitry may be operatively connected to the linear motor 500, the
charging slider 900, and/or the trigger 170. Control circuitry may react to
user request
actions such as charging (cocking) the slider 900 or pulling the trigger 170
to operate
the linear motor 500 to produce recoil or some other request unique to the
weapon
being simulated. Control circuitry may also monitor incoming signals from the
sensors on the linear motor 500 for the sliding rod/mass 600, such as current
control
loops or position sensing hall-effect sensors. In various embodiments, sensors
may
show the transient longitudinal position of the sliding rod/mass 600, and the
control
circuitry may operatively control the linear motor 500 to cause the sliding
rod/mass
600 to dynamically follow a predefined waveform for emulating a particular
recoil of
a firing firearm being simulated. In various embodiments, the controller may,
based
on sensory data received make corrections to the dynamic movements of the
sliding
rod/mass 600 for the linear motor 500. In embodiments, the controller may be
programmed based on parameters inputted by user 5.
Volumetric areas 970 and 974 may be used to step-up to the required voltage
(DC to DC converter) from the battery 60 and also to drive the power waveforms
into
the linear motor 500 for motion control of the sliding rod/mass 600. By
keeping the
volumetric areas 970 and 974 to the top of the handgun system 10, around the
linear
motor 500, convection currents from the movement of the slider 900 (whether it
be by
charging or by movement induced by the linear motor 500 moving the sliding
rod/mass 600) may be exploited to help remove waste heat from the recoil
reaction
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and the electronics of the linear motor 500 that support that recoil reaction.
In various
embodiments, all of the positions for volumetric regions are unique in that
appropriate
driving powers are available to the linear motor 500 for recoil simulation as
well as
the appropriate space and heat transfer materials/methods to remove waste heat
from
the linear motor 500 after each trigger pull or charging of the simulated
weapon by
the user. Additionally, if the sliding mass 600 moves directly with the
handgun slider
900 during charging or "cocking" of the simulated handgun, the energy input
from
charging or "cocking" by user 5 may be used to generate current via the linear
motor
and then routed for storage back to the super-capacitor simulated magazine
described
herein. Moreover, the system described herein may be likened to regenerative
breaking as used in hybrid automobiles and locomotives. The device may include
a
coil(s) of wire and a magnet(s) running through the coil(s) to produce an
electric
current in the coil(s) that may be stored in any traditional electricity
storage device
like batteries, capacitors, etc.
Figure 62 shows a meter where the capacitor or other power storage device
may be coupled. For an active system, the coil would have to be coupled and
decoupled from the driving electronics to properly store the energy. This may
be done
with traditional switches and switching components like transistors (MOSFETs).
The
driving electronics would by default be coupled to the coil(s) for generation
of recoil
and haptic effects. Then, while user 5 is not using the linear motor to
produce recoil
but is in the process of charging (loading) or 'cocking' the simulated firearm
or
peripheral, the driving electronics are decoupled from the coil(s) and coupled
to the
power storage device via a switch or sensor that senses action of user 5 to
get ready to
load the simulated device. For example, user 5 grabs the simulated firearm
slider 900
and depresses a switch or a sensor coupling the linear motor coil(s) to the
power
storage device and then charges or loads the simulated weapon, generating
electricity
by moving the magnets of linear motor 500 through the linear motors coil(s).
This
electricity is stored in the power storage device either directly or may be
run through
additional electronics to modify the parameters (voltage) for proper storage
into the
power storage device. Then user 5 may let go of the slider 900 and the switch
or
sensor may recouple the linear motor coil(s) to the driving electronics.
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For control loop implementation, the linear motor 500 may be controlled from
the linear motor controller via proportional-integral-derivative (PID), linear-
quadratic
regulator (LQR), linear-quadratic-Gaussian (LQG), or any other suitable
control loop
method. In one embodiment, the linear motor 500 may be controlled via a PID
controller and substantially has the PID implementation programmed to produce
recoil/shock effects. In another embodiment, the linear motor 500 may be
controlled
via a LQR controller and substantially has the LQR implementation programmed
to
produce recoil/shock effects. In other embodiments, the linear motor 500 may
be
controlled via a LQG controller and substantially have the LQG implementation
programmed to produce recoil/shock effects.
In embodiments, movements of linear motor 500 may be more efficient using
a PID controller for the production of recoil/shock effects. In one
embodiment,
movements of linear motor 500 may be more efficient using a LQR controller for
the
production of recoil/shock effects. Movements of linear motor 500 may be more
efficient using a LQG controller for the production of recoil/shock effects.
Linear motor 500 may be more efficient using a PID controller for the
production of recoil/shock effects and the regenerative charging that occurs
from
input of user 5 as discussed above. In another embodiment, linear motor 500
may be
more efficient using a LQR controller for the production of recoil/shock
effects and
the regenerative charging that occurs from input of user 5 as discussed above.
In yet
another embodiment, linear motor 500 may be more efficient using a LQG
controller
for the production of recoil/shock effects and the regenerative charging that
occurs
from input of user 5 as discussed above.
Generally, hand gun system 10 may include hand gun body 20, linear motor
500 operatively controlling sliding rod or mass 600, wherein linear motor 500
is
attached to simulated firearm body 20, controller 50 operatively connected to
linear
motor 500, and power supply 60 powering controller 50. In this embodiment,
hand
gun system 10 may include a cocking slider 900 having first 910 and second 920
ends.
Figure 42 is a side view of the upper receiver 120 of hand gun system 10.
Figure 43 shows the internal components of the upper receiver 120 ready for
cocking
of the slider 900 before the initiation of a simulation cycle.
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Upper receiver 120 may include slider 900, linear motor 500, sliding mass
600, and spring 950. As with other embodiments, linear motor 500 operatively
connects to sliding mass 600 and dynamically controls the kinematic movements
of
sliding mass 600 to cause a predefined kinematic output from sliding mass 600
to
simulate recoil from the firing of the handgun.
Slider 900 may be slidingly connected to linear motor 500. Sliding mass 600
may be elastically connected to slider 900 via spring 950. Slider 900 may
include
first end 910 and second end 920. Sliding mass/rod 600 may include first end
610
and second end 620. Spring 950 may include first end 954 and second end 958.
Figure 44 schematically shows slider 900 being pulled backwardly (in the
direction of arrow 904) to cock the simulated hand gun. Figure 45
schematically
shows slider 900 returning to a pre-firing simulated position for the
simulated hand
gun. Before a firing cycle catch 680 resists longitudinal movement of sliding
mass/rod
600 along longitudinal center line 508, by catch 680 being in contact with
second end
620.
During a simulated hand gun charging operation, when a user 5 is pulling
rearwardly the simulated hand gun's slider 900, the trigger pin or sear 680
resists
rearward longitudinal movement of the linear motor's sliding rod/mass 600.
During
rearward pulling of the slider 900, the trigger pin or sear 680 blocking
rearward
longitudinal movement of the linear motor's sliding rod/mass 600 removes any
need
to power the linear motor 500 to resist the rearward movement of the linear
motor's
sliding rod/mass 600 during the simulated hand gun charging operation. With
sliding
mass/rod 600 held longitudinally in place, slider 900 may be pulled backwardly
(schematically indicated by arrow 904) to simulate a cocking of a hand gun.
Movement of slider 900 in the direction of arrow 904 may cause expansion of
spring
950 which is attached to both second end 920 of sliding mass/rod 600 and
second end
920 of slider until shoulder 914 of slider 900 comes in contact with a stop
such as first
end 501 of linear motor 500. User 5 may release slider 900 and expanded spring
950
will cause slider 900 to move forwardly in the direction of arrow 906.
During the simulated handgun charging operation, when the user 5 releases the
slider 900 of the simulated handgun, the spring 950 may pull the slider 900
forwardly
until the slider 900 reverts to the position shown in Figure 45. During the
cocking
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procedure catch 680 prevents sliding mass/rod 600 from moving longitudinally
in the
direction of arrow 904. Spring 950 connected to both the sliding mass/rod 600
of
linear motor 500 and slider 900 of the simulated handgun may have a spring
constant
to simulate the amount of resistance that a user 5 charging/cocking a real
handgun
would feel when charging the handgun by pulling on the handgun's slider.
Pulling the trigger 170 may cause the trigger pin or sear mechanism 680 to
release the linear motor's sliding rod/mass 600, and then power the linear
motor 500.
Powered linear motor 500 may enter a simulation cycle wherein the linear
dynamic
movement of the sliding rod/mass 600 is controlled by the linear motor 500 to
simulate the recoil forces that a user of an actual hand gun would feel when
firing the
actual hand gun. Figure 46 schematically shows linear motor 500 moving sliding
mass/rod 600 rearwardly (schematically indicated by arrow 992) to emulate
recoil of a
hand gun until the shoulder 914 of the slider 900 hits a mechanical stop (in
this case
shoulder 914 coming in contact with first end 501 of linear motor 500). The
simulation cycle may begin by trigger 170 being pulled in the direction of
arrow 990
which both activates controller 60 to control linear motor 500 to enter a
simulation
cycle, and also causes catch 680 to move in the direction of arrow 991 and
release
sliding mass/rod 600. Other forms of mechanical stops may be envisioned such
as
those described in other embodiments in this application, e.g., first end 610
coming in
contact with a stopping shoulder on the simulated hand gun other than first
end 501.
During movement in the direction of arrow 992, second end 620 of sliding
mass/rod
600 may push on first end 954 of spring 950 which is completely compressed,
and
second end 958 of spring 950 may push on second end 920 of slider 900.
Accordingly, during the initial stroke of sliding mass 600 in the direction of
arrow
992, the effective/actual mass being controllably kinematically moved by
linear motor
500 is the combined mass of sliding mass/rod 600 plus spring 950 plus slider
900.
As described in other embodiments, hitting mechanical stop may cause an
enlarged
transfer of impulsive energy to the user in simulating recoil, and also place
linear
motor 500 in the mode of returning sliding mass/rod 600 to a pre-firing
simulated
position for the simulated hand gun shown in Figure 45. Arrow 994
schematically
indicates that, after slider 900 hits the mechanical stop, linear motor 500
causes
sliding mass/rod 600 to now be controllably moved in a forward direction
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(schematically indicated by arrow 994) until sliding mass/rod 600 reaches its
pre-
firing simulated position for the simulated hand gun shown in Figure 45.
During the
reverse stroke (in the direction of arrow 994) second end 620 of sliding
mass/rod 600
may pull on first end 954 of spring 950 which becomes somewhat extended based
on
its spring constant, and second end 958 of spring 950 will in turn pull on
second end
920 of slider 900. Accordingly, during the return stroke of sliding mass 600
in the
direction of arrow 994, the effective/actual mass being controllably
kinematically
moved by linear motor 500 may be the combined mass of sliding mass/rod 600
plus
spring 950 plus slider 900 (assuming that the spring constant of spring 950 is
relatively large compared to the mass of slider 900).
The kinematic control of linear motor 500 may be programmed to
kinetmatically control (e.g., acceleration, velocity, and/or position) the
mass which
linear motor 500 moves to emulate various hypothetical recoil force versus
time
diagrams for hand guns which force versus time diagrams may be substantially
different than those of rifles including substantially matching a plurality of
simulation
point data sets.
Figure 47 shows a simulated hand gun system 10 with removable power
supply 60 replicating a magazine. Figure 48 shows a side view of the power
supply
60. Power supply 60 may include first end 61 and second end 62 with electrical
contacts 64, 65. In one embodiment, the simulated ammunition clip 60 with
power
supply may include the same look and feel (other than the power contacts) as
the
magazine of the gun being simulated. Contacts 64, 65 may be any conventionally
available contacts and may be spring loaded to ensure a repeatable and secure
connection to the electronics housed inside the weapon simulator body.
In one embodiment, the linear motor 500 may be powered down between
recoil simulation cycles, but maintain the sliding mass/rod 600 home
simulation
position before the start of each simulation cycle. Powering down the linear
motor
500 reduces overall power consumption because between simulation cycles the
linear
motor 500 does not drain power to maintain the sliding rod/mass 600 home or
pre-
simulation position. Powering off linear motor 500 between simulation cycles
may
also facilitate charging of the power supply 60 to the method and apparatus.
Methods of Wireless Power
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Due to the space constraints associated with smaller simulation devices, e.g.,
gaming controllers, shock sticks, handgun based simulators, etc., embodiments
of the
present disclosure may include alternatives to traditional batteries such as
lithium-ion
chemistries. These alternatives may apply to the whole range of simulators
considered
herein, whether for use in weapons training programs or for use in gaming
peripherals.
Power devices/power availability is important in both consumer and military
applications of the present disclosure. Embodiments of the present disclosure
may
include power sources that drive the linear motor systems and/or controllers
described
herein. One embodiment may include super-capacitors (ultra-capacitors) as a
battery
pack method for simulators.
Figure 63 shows a shortened simulated handgun magazine as described herein
regarding Figures 47 and 48. Not shown are the electrodes used to connect the
emulated handgun magazine to the simulated weapon for power, but may generally
be
located in the same place as in figure 48 or located on the sides of the
magazine. The
magazine may house a number of super-capacitors electrically connected in
series or
parallel or in multiple configurations of series and parallel to produce a
viable voltage
and current source to power the linear motor system. The simulated handgun
magazine above may take the form of other sizes and shapes to mate with
different
weapon simulator types for the proper simulation of those clips or magazines,
and
those too may contain a number of super-capacitors in configurations described
herein.
Figure 64 shows the same simulated handgun magazine as Figure 63 with the
outer housing made transparent and the super-capacitors made visible.
Balancing
circuitry and wires have been omitted for brevity, but should be considered
included
in the available space shown. These circuits regulate charging of the
capacitors when
attached to a charging terminal and balance voltage between capacitors for
proper
operation. Using super-capacitors in this application is important because it
is used in
concert with several other factors. The controller system for linear motor 500
may
turn the motor OFF after each recoil cycle as described herein allowing for
drastic
power reduction while only powering minimal wireless and logic components.
Furthermore, through the reduction of power, the shot count available in each
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simulated magazine may be considered. In the magazine above, enough power is
available for 30 recoil cycles and to run the wireless and logic components
for 10 or
more hours. Considering this, charge time is a major factor. However, charge
time for
capacitor based technology is orders of magnitudes faster than that of typical
lithium-
ion battery technology. This has to do with the nature of capacitors. Thus,
for a typical
simulated magazine using super-capacitors, charging times of seconds may be
realized versus many minutes or hours avoided charging batteries and an
accurate
simulation of the entire system that is tetherless be obtained.
Figure 65 is an isometric view of a charging / loading mechanism for a weapon
platform. Embodiments of the present disclosure provide methods for emulating
the
charging / loading mechanism for weapon platforms. According to embodiments of
the present disclosure, linear motors employed in weapon simulation may
typically
apply forces from 67N to 700N. To emulate the charging spring, a charging
handle
may be mechanically connected to the linear motor slider and disconnected from
the
linear motor slider after use. During the use of the charging handle, a switch
or sensor
tells the linear motor controller to reduce power to the linear motor reducing
its
maximum force constant or the maximum force that may be applied to resist
changes
in slider movement. See Figure 66. As shown, the motor is maintaining position
along
linear path (not firing). User 5 may grab charging handle, signaling for motor
controller to reduce power to motor (signaled via button or sensor). User 5
may pull
the handle, and motor may resist change in position with force F, but may not
be able
to due to the decrease in available power from linear motor controller (i.e.
motor's
position lags). See Figures 67 and 68. The motor's reduced power may emulate
the
spring in normal cocking mechanism and user 5 may complete the charging cycle
by
releasing handle. The motor may return to its initial position under reduced
power
(still emulating the spring). Once the initial linear starting position is
reached and user
is no longer activating charging handle buttons/sensors, the motor may return
to full
power and may be ready to emulate recoil.
As shown in Figure 61, the linear motor is treated as a simple spring. F,store
--
is
the force imparted on the user by the spring trying to return to its original
location (x),
which may be described by Hook's Law (F--kx). The change in x or (Ax)
determines
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the spring's force pulling back on the user, typically as the distance x
increases so
does Fresto, until material deformation is reached.
This emulation of the charging spring by the linear motor may follow the
traditional spring used in the heavy weapon simulator being emulated by
varying its
resistance force over the linear position of the motor's slider with a single
spring
constant k. Or the motor may emulate multiple spring constants k1õ2.3.., to
emulate
other mechanical resistances encountered in a typical heavy weapon platform's
linear
movement associated with the charging handle. For instance, as the motor's
slider is
moved to position Ax it may apply a spring constant k1 to the user by altering
the
force available to the motor to resist changes in slider position. Then as the
motor is
moved to position 2(Ax), it may apply a spring constant k2 to the user varying
Frestore
over the linear position. Thus, the traditional heavy weapon spring may be
emulated
over the linear position with other mechanical forces figured in as well.
The values for the spring constants k1..k2..k3... may be found by testing the
traditional spring's force constraints with a force measurement tool per the
Ax or by
the spring manufacturer's specification sheet.
Embodiments of the present disclosure described herein may be applied to
charging handles / charging mechanisms on handguns, rifles, shotguns, etc. as
well as
the heavy weapon example described herein.
Figure 51 schematically illustrates one embodiment of the method and
apparatus of system 10. System 10 may be a part of or include a "game." Game
may
utilize the Unity development environment / platform or Unreal Engine
development
environment / platform or a similar development environment. The Unity
development platform is a flexible and powerful development engine for
creating
multiplatform 3D and 2D games and interactive experiences. The Unity
development
platform, and other platforms such as the Unreal Engine platform, are used in
a wide
array of industries for the creation of immersive simulation and gaming
environments.
In exemplary embodiments, a Unity plugin / game, Dynamic Link Library (DLL),
and
/ or other plugin / game may interface with linear motor 500 via controller 50
though
serial, CAN bus, and/or other communications bus / protocols between the
"Game"
and Linear Motor 500 blocks depicted in figure 51. This allows for the "Game"
portion of the diagram to interpret signals from user 5 as described herein
and then
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feed those signals into the plugin so linear motor 500 may be arbitrarily
moved in a
manner specified by gaming / simulation conditions. An example of this
interaction
between the gaming environment and user 5 may be illustrated with reference to
figure 82. As shown, user 5 is seated via a chair gaming / simulation
peripheral, and
user 5 is also holding a VR peripheral with attached shock stick. A
communications
interface may be established between the VR peripheral (including the linear
motor
500) and the simulation / gaming environment or "Game" block in Figure 51.
Since
the VR peripheral may be able to report its position in free space via
positional
trackers as described herein, the "Game" portion of Figure 51 may be able to
capture
the VR peripheral's location in free space. While user 5 is holding the VR
peripheral
as shown in Figure 82, the "Game" portion of Figure 51 may interpret this
configuration as the VR peripheral being setup as a typical handgun or rifle.
Thus, the
"Game" portion of Figure 51 may direct linear motor 500 via the plugin to
emulate a
typical firing sequence when the trigger is depressed. If user 5 then holds
the VR
peripheral body perpendicular to the position shown in Figure 82, the "Game"
portion
of Figure 51 may interpret the change in position to mean that the VR
peripheral
should be considered a chainsaw. Thus, the "Game" portion of Figure 51 may
direct
linear motor 500 via the plugin to emulate a typical chainsaw effect where
linear
motor 500 moves slider 600 in a constant back and forth motion and then
increases
the frequency of this motion when the trigger is depressed on the VR
peripheral.
In one embodiment, a plugin may be used to control linear motor 500 from a
game or simulation environment.
In an embodiment, the plugin may have a graphical user interface to simplify
development of specific motor movements.
In embodiments, the graphical user interface may show the movement vs time,
acceleration vs time, velocity vs time, and/or hybrid graphs for linear motor
500.
In further embodiments, the graphical user interface may show the graphs
described herein, and may allow the developer to manipulate those graphs
arbitrarily
for programing arbitrary movements for linear motor 500.
In another embodiment, the plugin may have a drop down menu so typical
linear motor effects may be easily assigned to different events.
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In additional embodiments, the plugin may be called by a larger program
(game / simulation) to facilitate faster development times without needing to
recreate
substantially all the functionality and communications protocols from the
plugin and
integrating into each larger program.
In an embodiment, the plugin may communicate through a wireless interface
to the "Game" and "Linear Motor" portions of Figure 51 as described herein.
In one embodiment, the plugin may receive temperature and power usage data
from linear motor 500.
In another embodiment, the plugin may use the temperature and power usage
data, as described herein, to calculate the maximum movements for the motor
500 to
keep it from failing (slider 600 jogging out of distance, using too much
power, etc.)
Wand Embodiment
Figures 49 through 51 illustrate one embodiment for incorporating linear
motor 500 into a wand 2000 gaming piece. Figure 49 shows one embodiment of a
simulated magical wand 2000 with a linear motor 500 removed. Figure 50 shows a
user 5 with a gaming wand 2000.
Wand 2000 may include first end 2010, second end 2020 and have
longitudinal center line 2050 with a center of gravity 2060. Linear motor 500
with
longitudinal centerline 508 may include sliding mass/rod 600 and be
incorporated into
the interior of wand 2000. The incorporation of linear motor 500 into wand
2000 may
be such that centerline 508 is coincident with centerline 2050 causing sliding
movement of sliding mass/rod 600 to be along center line 2050. In other
embodiments, centerline 508 may be spaced apart an arbitrary angle from
centerline
2050 in either a parallel or non-parallel condition. When spaced apart and
parallel,
sliding movement of sliding mass/rod 600 may be parallel but not along center
line
2050. When spaced apart and non-parallel, sliding movement of sliding mass/rod
600
may be both not parallel and not along center line 2050.
In various embodiments, during game play the center of gravity 2060 may be
repositioned at least 25 percent of the overall length of wand 2000. In
embodiments,
the center of gravity 2060 may be repositioned at least 30, 35, 40, 45, 50,
55, 60, 65,
70, 75, 80, 85, and 90 percent of the overall length of wand 2000. In various
embodiments, the center of gravity 2060 may be repositioned along a range of
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between any two of the above referenced percentages of the overall length of
wand
2000.
In one embodiment, linear motor 500 and sliding mass/rod 600 may provide
an increased level of gaming immersion especially for gaming users, such as in
virtual
reality gaming immersion. For example, in-game play may be used to analyze
predefined linear motor 500 effects to be imposed on the user created by
controlled
movement of the sliding mass/rod 600.
In one embodiment, these effects may be a form of communication to the user
in connection with whether or not a gaming goal is getting close to successful
completion (such as whether he or she is casting a spell correctly or
incorrectly). For
example, a user during game play may attempt to move wand 2000 to correctly
cast a
gaming spell. This gaming spell may require that the wand be moved through a
predefined set of transient/ time dependent motions. In one embodiment, as the
user
successfully performs a first set of the predefined transient motions, linear
motor 500
may cause sliding mass/rod 600 to move through a first set of motions causing
a first
set of haptic sensations to be sent to the user (such as a vibration or
general movement
to indicate to the user that the spell is being performed correctly). In
embodiments, as
the user successfully performs a second set of the predefined transient
motions, linear
motor 500 may cause sliding mass/rod 600 to move through a second set of
motions
causing a second set of haptic sensations to be sent to the user (such as
increased
strength of vibrations or increased general movement to indicate to the user
that the
spell is continued to be performed correctly). From here, the completion of
the spell
gives a third set of haptic sensations such as a large shock or vibration.
In an embodiment, if the user fails to perform the first set of predefined
transient motions, linear motor 500 may cause sliding mass/rod 600 to move
through
a modified first set of motions causing a modified first set of haptic
sensations to be
sent to the user (such as weakened vibrations/stopping altogether or weakened
general
movement to indicate to the user that the spell is being performed
incorrectly, or
stopping altogether to indicate to the user that the spell was incorrectly
cast).
In embodiments, the methods and apparatuses described herein may include
the following steps to produce haptic effects for the user during game play:
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1) The user begins to cast their spell by moving the wand 2000 where the
accelerometer(s) and gyroscope(s) are inserted.
2) The accelerometer(s) and gyroscope(s) pass their collected infoimation
about wand 2000's movement to the game 10.
3) The game 10 interprets how the linear motor 500 should respond from
preprogrammed data and then engages the linear motor 500 to move.
4) The user is experiencing the vibration(s), shock(s), and changes in center
of
gravity 2060 that the linear motor 500 induces in the wand 2000 body or
facade.
Tennis Racket
Figure 52 shows one embodiment of a simulated tennis racket 3000 with a
plurality of linear motors 500 and 500'. Figure 53 shows the simulated tennis
racket
3000 with a plurality of linear motors 500 and 500' with the racket portion
removed.
Figure 54 schematically illustrates a tennis ball hitting a tennis racket.
Racket 3000 may include hand grip 3005, first end 3010, second end 3020,
and have longitudinal center line 3050 with a home center of gravity 3060.
Linear motor 500 with longitudinal centerline 508 may include sliding
mass/rod 600 and be incorporated into the interior of racket 3000. Linear
motor 500'
with longitudinal centerline 508' may include sliding mass/rod 600' and be
incorporated into the interior of racket 3000. The incorporation of linear
motors 500
and 500' into racket 3000 may be such that centerlines 508 and 508' may be
coincident with centerline 3050 causing sliding movement of sliding
masses/rods 600
and 600' to be along center line 3050. In other embodiments, centerlines 508
and/or
508' may be spaced apart an arbitrary angle from centerline 3050 in either a
parallel or
non-parallel condition. When spaced apart and parallel, sliding movement of
sliding
masses/rods 600 and 600' may be parallel but not along center line 3050. When
spaced apart and non-parallel, sliding movement of sliding masses/rods 600 and
600'
may be both not parallel and not along center line 3050.
The movement of the sliding masses/rods 600 and 600' allows for the
movement of the center of gravity 3060 of racket 3000 relative to hand grip
location
3005 to a new location 3060'. Moving the center of gravity 3060 relative to
hand grip
location 3005 allows for the racket to simulate different rackets for the
user. In
various embodiments, the center of gravity 3060 may be located on the
longitudinal
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axis 3050. In other embodiments, the center of gravity 3060 may be located off
of the
longitudinal axis. In embodiments, the center of gravity 3060 may be relocated
during
game play. During game play, the center of gravity 3060 may be repositioned at
least
25 percent of the overall length of tennis racket 3000. In embodiments, the
center of
gravity 3060 may be repositioned at least 30, 35, 40, 45, 50, 55, 60, 65, 70,
75, 80, 85,
and 90 percent of the overall length of tennis racket 3000. The center of
gravity 3060
may be repositioned along a range of between any two of the above referenced
percentages of the overall length of tennis racket 3000.
Having a plurality of linear motors (e.g., 500 and 500') in spaced apart
and/or
non-parallel/skewed locations relative to the simulation article may allow for
an
increased number of simulation events and types. For example, in a skewed and
spaced apart condition in the housing of the simulation article controlled
kinematic
movement of the plurality of sliding masses/rods 600 and 600' respectively by
linear
motors 500 and 500' may simulation force, angular, impulse, vibrational,
rotational,
torque, along with other types of dynamic movement.
In Figure 53, centerline 508 makes an angle 3200 with centerline 3050,
centerline 508' makes an angle 3200' with centerline 3050, and centerline 508
makes
an angle 3300 with centerline 508'. The different sliding angles and/or
different
sliding positions of sliding masses 600 and 600' along with independent
kinematic
control of sliding masses 600 and 600' allow for controlled emulation of many
different possible kinematic activities from the real world.
For vector type systems (i.e., non-scalar), it is assumed that Cartesian
coordinates are used (although a polar coordinate system may also be used).
Figure 54 describes an embodiment that may be used to emulate a real world
sports game where a tennis ball is impacted by a tennis racket. The
illustration
assumes that the hand grip location 3005 is the origin of the coordinate
system. At the
point of impact 3080 (having Cartesian coordinates Dx 3081, Dy 3082, and Dz
3083)
between the tennis racket 3000 and tennis ball, the tennis ball may have a
velocity
vector (having Cartesian velocity components Vx, Vy, and Vz) relative to the
tennis
racket 3000. The relative velocity vector may take into account the calculated
velocity
vectors of both the tennis ball and the tennis racket 3000. In one embodiment,
the
velocity of tennis racket 3000 may be assumed to be zero. In other
embodiments, the
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velocity of the racket 3000 may be calculated based on gaming sensors in the
racket
3000 game piece.
The relative forces (torque, force, and impulse) on the hand grip 3005 due to
a
hypothetical impact between the tennis ball (having a velocity vector and
massb) with
a point of impact 3080 on tennis racket 3000 having an overall masst, and
center of
gravity (at location 3060) may be calculated using standard Newtonian laws of
motion, force, and energy. One or more of these calculated relative forces
(torque,
force, and impulse) from this first impact on hand grip location 3005 (e.g.,
what the
user should feel) may be emulated by linear motors 500 and 500' controlling
and/or
independently moving sliding masses/rods 600 and 600'.
In various embodiments, the hypothetical webbing 3110 may also be modeled
and used in the calculation of the relative forces (torque, force, and
impulse) on the
hand grip 3005 due to a hypothetical impact between the tennis ball with
tennis racket
3000. In this case, the elasticity of the webbing 3110 may be set forth along
with the
tightness of the stringing, size of the web, and the relative location of the
point of
impact 3080 on the webbing to the center 3160 of the webbing.
In various embodiments, emulated relative torque at hand grip point 3005 may
be created by linear motors 500 and 500' controlling and/or independently
moving
sliding masses/rods 600 and 600'. In embodiments, emulated relative force at
hand
grip point 3005 may be emulated by linear motors 500 and 500' controlling
and/or
independently moving sliding masses/rods 600 and 600'. In other embodiments,
emulated relative impulse at hand grip point 3005 may be emulated by linear
motors
500 and 500' controlling and/or independently moving sliding masses/rods 600
and
600'.
Similarly, the relative forces (torque, force, and impulse) on the hand grip
3005 due to a second hypothetical impact between the tennis ball (having a
second
velocity vector) and the tennis racket 3000 with a second point of impact
3080' may
be calculated using standard laws of motion and forces. One or more of these
calculated relative forces (torque, force, and impulse) from this second
impact on
hand grip location 3005 (e.g., what the user should feel) may be emulated by
linear
motors 500 and 500' controlling and/or independently moving sliding
masses/rods
600 and 600'.
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Similarly, the relative forces (torque, force, and impulse) on the hand grip
3005 due to a third hypothetical impact between the tennis ball (having a
third
velocity vector different from the first and second velocity vectors) and the
tennis
racket 3000 with a third point of impact 3080" (which happens to be the same
location at first impact 3080) may be calculated using standard laws of motion
and
forces. One or more of these calculated relative forces (torque, force, and
impulse)
from this third impact on hand grip location 3005 (e.g., what the user should
feel) may
be emulated by linear motors 500 and 500' controlling and/or independently
moving
sliding masses/rods 600 and 600'.
In various embodiments, the relative forces (torque, force, and impulse) on
the
hand grip 3005 caused by the impact between tennis ball and racket 3000 may be
emulated by linear motors 500 and/or 500'.
In embodiments, the method and apparatus actually calculate a post impact
velocity vector for tennis ball after leaving tennis racket 3000.
Various options using the one or more linear motors 500, 500', 500", etc. are
set forth below:
(1) In one
embodiment, a plurality of linear motors 500, 500', 500" may
be provided that independently control a plurality of different controllable
weight
units 600, 600', 600".
(2) In an
embodiment, a housing facade unit may be provided having a
plurality of different spaced apart positional locations in the housing facade
unit for
receiving and holding one or more linear motors linear motors 500, 500', 500"
and
controllable weight units 600, 600', 600". In various embodiments, the
positional
locations may be selectable by a user.
(3) In another
embodiment, a housing facade unit may be provided having
a plurality of different angular orientations for receiving and holding one or
more
linear motors 500, 500', 500" and controllable weight units 600, 600', 600".
In
various embodiments, the angular orientations may be selectable by a user.
(4) In one
embodiment, a plurality of different housing facade units may
be provided with different positions and/or angular orientations for receiving
and
holding one or more linear motors 500, 500', 500" and controllable weight
units 600,
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600', 600". In various embodiments the positional locations and/or angular
orientations may be selectable by a user.
(5) In an embodiment, a selectable set of linear motors 500, 500', 500"
and controllable weight units 600, 600', 600" may be provided, each having
adjustable configurations including spacing and/or orientation of the
different
controllable weights 600, 600', 600" in a housing.
(6) In various embodiments, one or more of the linear motors 500, 500',
500" and controllable weight units 600, 600', 600" may include a plurality of
different weight inserts.
(7) In embodiments, one or more of the linear motors 500, 500', 500" and
controllable weight units 600, 600', 600" may include a plurality of different
and
selectable mechanical stopping positions for the controllable weights.
(8) In various embodiments, the methods and apparatuses described herein
may simulate operations of one or more selectable gaming devices such as
tennis
racket, baseball bat, magic wand, hockey stick, cricket bat, badminton, pool
stick,
boxing glove(s), sword, light saber, bow and arrow, golf club, and fishing
pole.
(9) In embodiments, the methods and apparatuses described herein may
haptically simulate one or more secondary type actions of system being
emulated, for
example, halo plasma gun, broken bat, bat vibrations after hitting baseball or
charging/loading, etc.
In various embodiments, the linear motor system, including the firearm
simulation systems described herein, may be used in virtual reality gaming
peripherals.
For instance, Figure 69 shows a simulated firearm embodiment that includes
linear motor 500. The embodiment is tracked into virtual reality games via
optical
tracking, and/or with other tracking systems, with set markers on the body of
the
simulated firearm.
Figure 70 shows a transparent view of the simulated firearm embodiment
shown in Figure 69 with linear motor 500 and sliding mass 600 exposed as well
as
mechanical stop 800. As shown, mechanical stop 800 is visible towards the back
of
the simulated firealm body and is a multicomponent stop made from
polypropylene
and a rubber bumper. The polypropylene or other available plastics allow the
slider to
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quickly impart energy without damaging sliding mass 600. The rubber bumper
behind
the polypropylene piece also allows the transfer of energy over time to be
adjusted for
the end user and additionally allows energy to be safely transferred to the
body of the
simulated firearm. This method of energy transfer, using a multicomponent
mechanical stop 800, applies to all mechanical stops herein.
Figures 71 and 72 show side views of an additional virtual reality gaming
peripheral. This peripheral utilizes the same type of multicomponent
mechanical stop
800 as shown and described in the previous embodiment. This gaming peripheral
has
an added charging handle for simulating in-game-play charging (reloading) of
the
simulated firearm. It also may be tracked into the virtual reality game;
however, this
simulated peripheral body may be tracked by using magnetic tracking
(positioning)
with the mount for the tracker shown at the top of each figure.
These gaming peripherals do not have to come in the form of simulated
firearms, they may come with the same base components: linear motor 500,
sliding
mass 600, mechanical stop 800, a power source and controller (that may be
embedded
within the body), a trigger, etc. and emulate other bodies. Those other bodies
may be
baseball bats, magic wands, tennis rackets, cricket bats, pool sticks, boxing
gloves,
traditional gamepads, two handed controllers, fishing rod and reel, light
saber, sword,
nun chucks (nunchaku), golf club, chainsaw, ax, knife police baton, chair,
etc. In these
embodiments, substantially the same shock or recoil forces may be emulated as
were
emulated in the simulated firearms described in the various embodiments
herein.
For instance, consider a common chair where a linear motor recoil system has
been implemented for use in training and simulation. The chair may be used
with
traditional games or simulations for deeper immersion via force feedback
(shock and
rumble). It may further be used for deeper immersion via force feedback in
virtual
reality environments where simulations having user 5 with a HMD sit in the
chair and
environments containing a sitting position may be emulated. Whether it be the
chair in
a simulated helicopter cockpit, a truck, or any other vehicle traditionally
including a
'chair' for the operator to sit, each may be emulated for user 5.
Figures 73 and 74 show a common chair used to illustrate two positions for
linear motor 500 to produce recoil, shock, vibrations, force feedback, etc.
for user 5.
In the typical chair, user 5 is interfaced with the back of the chair and
bottom of the
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chair that supports weight of user 5. By varying the linear motor as described
herein,
user 5 may experience force feedback and recoil effects that would not
normally be
available to him during game-play or training simulation.
Figure 75 shows two linear motors connected to both the back and bottom of a
chair. These two or more (not pictured) linear motors may work in unison to
produce
recoil and force feedback associated effects for virtual reality experience of
user 5 as
it relates to what user 5 is perceiving in training simulation or game-play.
In an embodiment, the entire linear motor system may be contained within the
chair or attached to the chair. This system may include the linear motor 500,
sliding
mass 600, mechanical stop 800, the linear motor controller, and the linear
motor
power source as described herein.
In embodiments, the linear motor system may be attached in the form of a
shock stick as described herein.
Figure 76 shows an embodiment of the linear motors attached in different
orientations to produce different effects (force vectors) to user 5.
In an embodiment, multiple linear motors may be attached to the bottom and
to the back of the chair.
In embodiments, the linear motors may be driven via sound from the
simulation or game that converts certain preset frequencies out to control the
motion
of the linear motor(s).
In other embodiments, the linear motor(s) may be driven directly from the
simulation or game via the mechanism and flow diagram picture that is
described
herein.
In embodiments, the linear motor(s) may be attached to the legs of the chair.
Linear Motor System as an Attachment
Various advantages of using the linear motor system with a detachable part of
firearm simulator body 20 may also be evident when using the detachable
section as a
drop in replacement to a real weapons system for simulation training. For
instance,
referring to Figures 2 and 3, Figure 2 is a complete assembly of a firearm and
Figure 3
is the upper assembly of Figure 2. In Figure 3, the motor is housed in upper
assembly
120 allowing it to be mated with lower assembly 140. Upper assembly 120,
including
the linear motor system, may be used as a drop in replacement of a real
firearm for
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simulations training. Upper assembly 120, as shown and described previously,
includes the laser assembly for target painting and the necessary feature set
to emulate
a real weapon. Upper assembly 120 may also include the controller and power
unit to
direct the motion of linear motor 500 for recoil production and secondary
reactive
force effects generated by the real weapon system being emulated.
To take the idea above further, the linear motor system may also be located in
a typical butt stock housing for use as a detachable training piece or drop in
kit.
Figures 77 and 78 show a modified butt stock containing the linear motor
system. The butt stock includes the mechanical stop and may also include the
controller and power unit necessary to drive the motor. Butt stocks come in
many
different sizes and shapes and the location and placement of the linear motor
and
mechanical stop may be altered to accommodate theses space constraints.
Moreover,
the controller unit and power unit location within the butt stock may also be
altered to
reflect space constraints. Lastly, the forward-most position where the butt
stock is
attached to the body of either weapon simulator 20 or a real firearm as a drop
in kit
may also vary following the requirements of the attachment point from body 20
or
from the real firearm that typical butt stocks attach.
For reference to the attaching portion of the butt stock, threaded buffer tube
230 is visible in Figure 79. The attachment point in the previous two figures
may thus
be modified to attach to the point of body 20 or to the traditional point in a
real
firearm as a drop in kit for simulations training.
The butt stock embodiment described herein may be powered by the power
devices mentioned herein such as a battery, capacitor or super-capacitor pack,
etc.
The butt stock embodiment described herein may be controlled by the linear
motor
controllers described herein.
Shock Stick
Figure 80 shows a linear motor 500 housed inside a hollow cylinder (shock
stick) along with sliding mass 600 and two multipart mechanical stops on the
left and
right side of sliding mass 600. The multipart (multicomponent) mechanical
stops 800
are described herein. As shown in Figure 80, linear Motor 500 is offset to the
left side
of the shock stick. User 5 may hold the shock stick as shown in Figure 81. The
offset
accounts for center of gravity effects so that user 5 may effectively hold the
shock
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stick. The shock stick may produce all effects contained herein and include
recoil,
shock, vibration, transient vibration, force feedback, and other haptic
effects described
herein.
In an embodiment, mechanical stops 800 may be substantially the same.
In one embodiment, mechanical stops 800 may use different materials to
produce different force versus time graphs even though linear motor is
applying the
same force versus time to each separate mechanical stop.
In embodiments, the shock stick may be inserted into different housings
emulating different peripherals like baseball bats, magic wands, tennis
rackets, cricket
bats, pool sticks, boxing gloves, traditional gamepads, two handed
controllers, fishing
rod and reel, light saber, sword, nun chucks (nunchaku), golf club, chainsaw,
ax, knife
police baton, chair, etc.
In one embodiment, the shock stick may be used with another shock stick for
game play.
In another embodiment, the shock stick may be used with two or more
additional shock sticks and two or more peripheral bodies.
In other embodiments, the shock stick may be a virtual reality peripheral that
may be used alone or in a separate housing as described herein.
In one embodiment, the shock stick's linear motor 500 may be moved up or
down its linear path for center of gravity adjustment.
In other embodiments, the shock stick may transmit position data via tracking
as described herein to the training simulation or game.
In various embodiments, the shock stick may be tetherless and include the
linear motor system: linear motor 500, sliding mass 600, mechanical stop 800,
a linear
motor controller, and a power source.
In one embodiment, the shock stick may be tetherless and include a wireless
communication device.
In other embodiments, the shock stick may recharge its power source through
movement of user 5 via the same mechanism described herein.
In one embodiment, the shock stick embodiment may be sufficiently small to
fit within a smartphone or cellphone housing for the generation of vibrations,
force
feedback, recoil, or shock.
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In other embodiments, the shock stick ¨ being sufficiently small to fit within
a
smartphone or cellphone housing - may be used to recharge the smartphone or
cellphone though movement of user 5 via the same mechanism described herein.
In one embodiment, the shock stick's sliding mass 600 may be composed of a
plurality of different types of magnets (neodymium, ceramic, etc.).
In embodiments, the shock stick's sliding mass 600 may be composed of a
plurality of different types of magnets (neodymium, ceramic, etc.) and the
magnets
form a repeating pattern in the slider (i.e. neodymium, ceramic, neodymium,
ceramic,
etc.).
In one embodiment, the shock stick's sliding mass 600 may be composed of a
plurality of different types of magnets (neodymium, ceramic, etc.) and the
magnets
form an irregular pattern in the slider (i.e. ceramic, neodymium, neodymium,
ceramic,
etc.).
In another embodiment, the shock stick may include a connector plate
configured such that its related power and communications may be placed on or
inside a separate enclosure. For example, this enclosure may encompass a chair
or
other body where the shock stick may be inserted or removed from.
Figure 82 shows user 5 holding a VR peripheral that may include the shock
stick described herein which may be connected to the chair via a removable
cable
harness. As shown, the chair may include all the necessary electronics to
power and
communicate with the shock stick and the gaming console / computer running the
game or simulation.
In an embodiment, the shock stick as described herein may be removed from
the VR peripheral and detached from the cable harness shown in Figure 82 and
inserted into the chair.
In one embodiment, the shock stick as described herein may be removed from
the VR peripheral and inserted into the chair without the need of removing the
cable
harness.
Figure 81 shows a user 5 holding the shock stick shown in Figure 80. User 5
.. may wear a head mounted display or other virtual reality display described
herein.
The shock stick's position may be monitored via positional tracking and/or
other
tracking systems, e.g., the tracking systems described herein. Since user 5 is
wearing
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the HMD, visual reality of user 5 is being altered. When user 5 looks down to
see the
shock stick, he may see one of the previously mentioned peripherals such as
for
example a tennis racket. As long as the grip on the shock stick (where user 5
physically holds the shock stick) feels substantially similar to the grip on a
tennis
racket, then user 5 may be tricked into believing that he/she is holding a
tennis racket.
The training simulation or in-game-play may further be enhanced when linear
motor
kinematically moves as described herein. This experience applies to the
breadth of
one and two-handed peripherals or objects. For instance, the tennis racket may
be
considered a one-handed object. The baseball bat, since two hands are used at
once,
may be considered a two-handed object. These objects may both be successfully
emulated by the shock stick as long as physical contact points of user 5 with
the shock
stick 'feel real' and successfully physically recreate the sensations by such
physical
grips.
Therefore, in an embodiment, a plurality of grips may be applied to the shock
stick for proper emulation of the object being emulated in the simulation or
in-game-
play.
Figure 83 shows the shock stick inserted into a peripheral body. The
peripheral body may contain all the necessary elements to: power, communicate,
control, and send signals to and from the body either in wired or wireless
form.
In other embodiments, the shock stick may be inserted into different housings
that contain the correct grips for that housing embodiment and may have a
plurality of
grips that may be applied to the housing the shock stick is inserted into. As
shown in
Figure 83, the forward grip to the left and the back grip to the right are
examples of
grips that may conform to tricking user 5 into thinking that they are holding
a
simulated weapon / gaming gun peripheral in VR since they emulate the correct
feel
and placement of a wide range of available grips that may be found on weapons.
Standing and Transient Produced Wave Forms
Figure 55 is a perspective view of a linear motor 500 and sliding mass/rod 600
combination. In various embodiments, linear motor 500 may be programmed to
cause
sliding rod/mass 600 to move kinematically in a predefined controlled manner
to
produce various different predefined standing or resonant frequencies of
sliding
rod/mass 600 for imposing/creating predefined force, acceleration, velocity,
location
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of center of gravity of sliding rod/mass 600, momentum, and impulse. In
embodiments, the standing or resonant frequencies may have the following
properties:
(1) standing amplitudes,
(2) standing periods, and
(3) standing frequencies.
Figure 56 shows a standing or resonating wave form 5000 with a changing
property such as amplitude 5010. Figure 57 shows various transient wave form
6000
with different properties of amplitude 6010 and period 6030.
Figure 58 shows various types of standing or resonating waveforms forms
5000 (sinusoidal), 5000' (step or rectangular), 5000" (triangular), and 5000'
(sawtooth) with constant wave form properties of amplitude 5010, wave length
5020
and period 5030. Wavelength and period are functions of each other based on
the
velocity of the wave and the formula wave length is equal to velocity of wave
times
period of wave. Period is equal to the reciprocal of the frequency.
In various embodiments, the original and/or different kind of standing or
resonant frequencies may be selected from the group of standing wave
frequencies
including sinusoidal, sawtooth, triangular, rectangular, and/or step wave
functions.
In various embodiments linear motor 500 may switch between producing the type
or
kind of standing or resonant wave form. In embodiments, linear motor 500
controlling sliding mass/rod 600 may be programmed to switch between producing
different standing or resonant frequencies from a set of a plurality of
possible
predefined standing or resonant frequencies, the selection being based on
different
gaming events (e.g., satisfaction of a gaming goal or failure of a gaming
goal) and/or
different user input.
In embodiments, linear motor 500 may switch between producing the same
type or kind of standing or resonant wave form, but with different wave form
properties such as (1) standing amplitudes, (2) standing periods, and/or (3)
standing
frequencies. In various embodiments, for a particularly imposed standing or
resonant
wave form, linear motor 500 may vary a selected property of the imposed wave
form
(e.g., amplitude, period, frequency) from an initial predefined standing or
resonant
predefined waveform property value to a second selected predefined standing or
resonant predefined waveform property value by a minimum percentage of change
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from the initial value, such as at least 5 percent change in value (e.g., the
standing
amplitude is changed in value by at least 5 percent of the initial predefined
standing or
resonant amplitude value). In embodiments, the percentage of change may be at
least
5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95,
and/or 99
percent from the initial predefined value of the standing or resonant wave
form
property to the changed value. In other embodiments, the percentage of change
of the
selected property may be within a range of percentage change which range is
selected
from between any two of the above specified percentages of minimum change
(e.g.,
between 10 and 45 percent of change).
Linear motor 500 may be programmed to produce one or more transient
vibrations in force, acceleration, velocity, location of center of gravity of
sliding
rod/mass 600, momentum, and/or impulse which are superimposed over standing
resonant frequencies in force, acceleration, velocity, location of center of
gravity of
sliding rod/mass 600, momentum, and impulse being produced by linear motor
500.
In various embodiments the superimposed transient frequencies may have the
following properties:
(1) transient amplitudes,
(2) transient periods,
(3) transient frequencies,
(4) transient time length of superimposition, and
(5) transient time
length of gaps between transient time lengths of
superimposition.
Figure 59 shows various types of standing or resonating waveforms
(sinusoidal), 5000' (step or rectangular), 5000" (triangular), and 5000'
(sawtooth)
with constant wave form properties but with superimposed transient wave forms
6000
with possible changing wave form properties.
For sinusoidal resonant or standing waveform 5000 produced by linear motor
500, linear motor may also be programmed to produce various transient wave
forms
such as wave forms 6000, 6100, 6200, 6300, and 6400. In embodiments, the
properties (e.g., amplitude, period, and wavelength, along with time gap
between
transient wave forms) of each transient wave form 6000, 6100, 6200, 6300, and
6400
may be substantially the same as the other produced transient wave forms. In
various
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embodiments, one or more of the properties (e.g., amplitude, period, and
wavelength,
along with time gap between transient wave forms) of each transient wave form
6000,
6100, 6200, 6300, and 6400 may be the same as the other transient wave forms
in its
properties (e.g., amplitude, period, and wavelength, along with time gap
between
transient wave forms). For example, amplitude 6010 may be that same as
amplitude
6110, 6210, and/or 6310. As another example, period 6020 may be the same as
periods 6120, 6220, and/or 6320. In another example, wavelength 6030 may be
the
same as wavelengths 6130, 6230, and/or 6330. In yet another example, time gap
6040
may be the same as time gaps 6140, 6240, and/or 6340. Similar examples for the
transient wave forms may be provided for superimposing on standing or
resonating
wave forms 5000', 5000", and 5000".
In various embodiments, one or more of the properties (e.g., amplitude,
period, and wavelength, along with time gap between transient wave forms) of
each
transient wave form 6000, 6100, 6200, 6300, and 6400 may be varied from the
respective properties of one or more of the same respective properties (e.g.,
amplitude, period, and wavelength, along with time gap between transient wave
forms) for one or more of the other produced transient wave forms. For
example,
amplitude 6010 may be different from amplitude 6110, 6210, and/or 6310. As an
example, period 6020 may be different from periods 6120, 6220, and/or 6320. In
another example, wavelength 6030 may be different from wavelengths 6130, 6230,
and/or 6330. In yet another example, time gap 6040 may be different from time
gaps
6140, 6240, and/or 6340. Similar examples for the transient wave forms may be
given
for superimposing on standing or resonating wave forms 5000', 5000", and
5000'.
In various embodiments, linear motor 500 may switch between producing the
same type or kind of standing or resonant wave form, but with different wave
form
properties such as (1) transient amplitudes, (2) transient periods, (3)
transient
frequencies, (4) transient time length of superimposition, and/or (5)
transient time
length of gaps between transient time lengths of superimposition. In
embodiments, for
a particularly imposed transient frequency, linear motor 500 may vary a
selected
property of the imposed transient frequency (e.g., amplitude, period,
frequency, length
of time of superimposition, length of time gap between imposition of different
transient frequency wave forms) from an initial predefined transient waveform
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property value to a second selected predefined transient waveform property
value by a
minimum percentage of change from the initial value, such as at least 5
percent
change in value (e.g., the transient amplitude is changed in value by at least
5 percent
of the initial predefined transient amplitude value). In embodiments, the
percentage
of change may be at least 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65,
70, 75, 80,
85, 90, 95, and/or 99 percent from the initial predefined value of the
transient wave
form property to the changed value. In various embodiments, the percentage of
change of the selected property may be within a range of percentage change
which
range is selected from between any two of the above specified percentages of
minimum change (e.g., between 10 and 45 percent of change).
Linear motor 500 controlling sliding mass/rod 600 may be programmed to
produce and/or switch between producing different transient frequencies from a
set of
a plurality of possible predefined transient frequencies, the selection being
based on
different gaming events (e.g., satisfaction of a gaming goal or failure of a
gaming
goal) and/or different user input. In various embodiments, the production
and/or
switching may be intended to emulate a shock from virtual gaming play. Shock
is a
term for extreme forces that matter is subjected to (usually measured as
acceleration
versus time). A mechanical or physical shock is a sudden acceleration or
deceleration
caused, for example, by impact, drop, kick, earthquake, or explosion. The
recoil
described herein is also a form of shock. Shock may be characterized by its
peak
acceleration, the duration, and the shape of the shock pulse (e.g., half sine,
triangular,
trapezoidal, etc.). The shock response spectrum is a method for further
evaluating a
mechanical shock.
In embodiments, the amplitude of a particular superimposed transient
frequency produced by linear motor 500 controlling sliding mass/rod 600 may be
varied over time. In various embodiments, the amplitude may decrease over
time,
increase over time, or decrease and increase over time.
The frequency of a superimposed transient frequency produced by linear
motor 500 controlling sliding mass/rod 600 may be varied over time. In various
embodiments, the frequency may decrease over time, increase over time, or
decrease
and increase over time.
In various embodiments, one or more of the above specified properties of a
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particular superimposed transient frequency produced by linear motor 500
controlling
sliding mass/rod 600 may be varied between different superimposed transient
frequencies on the same standing resonant frequency created by linear motor
500.
Transient wave functions may be used to simulate various abnormal operating
conditions even in firearms, such as a mechanical failure, misfire, jamming,
and
failure to feed a second round of ammunition to fire which causes or may cause
jamming.
As to a further discussion of the manner of usage and operation of the present
disclosure, the same should be apparent from the above description.
Accordingly, no
further discussion relating to the manner of usage and operation will be
provided.
While the embodiments are described with reference to various
implementations and exploitations, it will be understood that these
embodiments are
illustrative and that the scope of the inventions is not limited to them. Many
variations, modifications, additions, and improvements are possible. Further
still, any
steps described herein may be carried out in any desired order, and any
desired steps
may be added or deleted.
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