Patent ID: 12235065

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 firearm 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.

Realistic recoil is a difficult characteristic to duplicate. The inability to get a trainee accustomed to the recoil generated by a particular firearm 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 firearm 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 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 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 Trans rapid 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 term 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 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.

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:⁢Eigu=0.5*mgu*[[(mp*vp)*(mc*vc)]/1000]2/mgu2⁢Momentum⁢long⁢form:⁢vgu=[(mp*vp)+(mc*vc)]/(1000*mgu)⁢and⁢and⁢Eigu=0.5*mgu*vgu2

Where:Etguis the translational kinetic energy of the small arm as expressed by the joule (J).mguis the weight of the small arm expressed in kilograms (kg).mpis the weight of the projectile expressed in grams (g).mcis the weight of the powder charge expressed in grams (g).vguis the velocity of the small arm expressed in meters per second (m/s).vpis the velocity of the projectile expressed in meters per second (m/s).veis 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.

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, 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.

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 body20which may simulate an M-4A1, AR-15, M-16 rifle or any other type of rifle. While body20is shown as a rifle inFIG.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 ofFIGS.1to4, firearm simulator body20includes upper receiver120and lower receiver140. Like a conventional M-16, upper receiver120may be pivotally secured to lower receiver140by a screw or pin.

Lower receiver140may include a pistol grip160, a trigger170disposed in front of the pistol grip160, and a selector450disposed above the pistol grip160. A shoulder stock220may be secured to lower receiver140.

A barrel assembly300may be mounted to the front portion of upper receiver120. 30 The barrel assembly300may include a barrel310which may be directly secured to upper receiver120. An upper handguard330and lower handguard340may be secured to barrel assembly300. A front sight block360may be disposed around barrel310.

FIG.1is a side view of one embodiment of a firearm training system10.FIG.2is a side view of simulated firearm body20.FIG.3is a perspective view of upper assembly/receiver120.FIG.4is an exploded view of simulated firearm body20.

Firearm training system10may include a simulated firearm body20having a linear motor500operatively connected to a slider mass600, and a controller50operatively connected to the linear motor500via connecting wire bus54.

Simulated firearm body20may include upper assembly120and lower assembly140. Upper assembly120may include barrel assembly300, barrel310, along with upper330and lower340hand guards.

Lower assembly140may include stock shoulder stock220, buffer tube230, and pistol grip160. Pistol grip160may include trigger170. Cartridge250may be detachably connectable to lower assembly140.

Linear motor500may be attached to upper assembly120via connector assembly700. Connector assembly700may include first end710, second end720, connector plates721and722, connector tube740having bore750. Connector plate721may include fastener openings730, and connector plate722includes fastener openings732.

FIG.5is a perspective view of a linear motor500and sliding mass600.FIG.6is an exploded side view of linear motor500and sliding mass600.FIG.7is an assembled view of the linear motor500and sliding mass600.

Linear motor500may include a plurality520of separately controllable energized coils521,522,523,524,525,526,527,528,529,530, etc. which may electromagnetically interact with the plurality of magnets640in mass600. By controlling the timing, direction of current, and power of magnetic attraction of particular magnetic coils in plurality of separately controllable magnetic coils520, movement, acceleration, velocity, and position of mass600may 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 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 motor500may include a mass600which is slidably connected to linear motor500. Mass600may include first end610, second end620, and bore630. Plurality of magnets640may be included inside of bore630. Linear motors500have not been used in simulated firearms for controlling recoil force.

FIG.8is a perspective view of one embodiment of a support700for linear motor500and sliding mass600. Support700may include first end710and second end720. On first end may be first and second connector flanges721,722. First connector flange721may include a plurality of connector openings730. Second connector flange722may include a plurality of connector openings732. Coming from second end720may be tubular section740having a tubular bore750. Linear motor500may be mounted to support700via plurality of openings730and732being connected to plurality of connector openings540. After mounting to support700, linear motor500may cause sliding mass600to controllably move (e.g., slide, accelerate, etc.) inside of and relative to bore750.

In one embodiment, mechanical stop800may be employed to increase free recoil from sliding mass600. Mechanical stop800may be employed inside the simulated firearm body20to “rigidly” (i.e., more quickly negatively accelerate to zero sliding mass600than linear motor500is capable of) at the end of allowed length of travel660. Such quick stop may produce an enhanced recoil effect on user5by increasing the maximum generated recoil force on the user5. Because linear motor500employs a magnetic sliding mass600with 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 stop800may be employed. Linear motor500normally brakes sliding mass600by reversing the driving magnetic field originally used to accelerate sliding mass600in the opposite direction for stopping at the end of the length of travel660. Instead of this method, braking is left up to contact between sliding mass second end620and mechanical stop first end810inside lower assembly140. This allows for much faster breaking times for sliding mass600than linear motor500could, with such faster braking or deceleration creating larger reactive forces from sliding mass600and thus a larger free recoil value produced by system10at this point in time and position for sliding mass600.

In various embodiments, during an emulated firing cycle, linear motor500may control movement of sliding mass600causing sliding mass600to continue to acceleration until the last 1 percent of the entire stroke of sliding mass600as sliding mass600moves towards collision with mechanical stop800. In embodiments, 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 mass600as sliding mass600moves towards collision with mechanical stop800. 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 mass600as sliding mass600moves towards collision with mechanical stop800.

During an emulated firing cycle, linear motor500may control movement of sliding mass600causing sliding mass600to continue acceleration until 1 millisecond before sliding mass600collides with mechanical stop800. 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 mass600collides with mechanical stop800. In various embodiments, the control of increased acceleration may be until the range of any two of the above referenced time periods before sliding mass600collides with mechanical stop800.

Simulated firearm body20may include a selector switch450operatively connected to controller50for controlling the type of operation firearm training system10. For example, selector switch450may 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 system10, a user may select the position of selector switch450, aim simulated firearm body20at a target, and pull trigger170. When trigger170is pulled, controller50may cause linear motor500to kinematically control sliding mass600to create reactionary forces which may be transmitted to user holding simulated firearm body20. The reactionary forces created by controlling sliding mass600may 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 controller50may be programmed to control linear motor500to control movement of sliding mass600to create substantially the same forces over time by controlling the acceleration versus time of sliding mass. Because force is equal to the 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 mass600to 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, system10may 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 motor500and sliding mass600combined may have a total mass which approximates the mass of the particular firearm being simulated. In one 30 embodiment, simulated firearm body20, which includes linear motor500and sliding mass600combined, have a total mass which approximates the mass of the particular firearm being simulated. In various embodiments, either the linear motor500and/or sliding mass600combined may have a total mass (and/or the simulated firearm body20which includes linear motor500and sliding mass600combined) 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.

In embodiments, a substantially balanced simulated firearm body20may be provided. By locating linear motor500in the front portion of simulated firearm body20, better weight balance as well as a more realistic starting position for the simulated reactive force vector may be achieved. By positioning sliding mass600movement in this way, barrel300weight and center of gravity of simulated firearm body20may be more realistic to user5when system10is idle and trigger170is not being pulled. This is due to the starting position of sliding mass600. In one embodiment, barrel310material being used in upper assembly120may not be steel, and upper assembly120may feel unrealistic to user5due 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 mass600may rest inside barrel310. Such portion of sliding mass may simulate this extra “missing” weight in barrel310with the extra weight from the stator of linear motor500assisting as well. When user fires system10, sliding mass600moves from barrel310towards the rear of simulated firearm body20and is stopped by stop800that is even with the beginning of the stock. Sliding mass600may then return to its initial position and create a seamless effect for user5that the weight distribution of the gun “feels” correct when the gun is not being fired. Furthermore, since the weight distribution of simulated firearm body20changes during the course of the recoil/shock effect, additional backward load may be perceived by user5enhancing 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 inFIGS.18to21. When the simulated firearm rises, additional static load toward the ground may be placed on the shoulder of user5by the change in the center of gravity, giving user5the 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 user5. 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 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 motor500may be moved from the hand grip position, such as in stock220, or farther up into the receiver if necessary.

FIG.9is a side view of one embodiment of a simulated firearm body20. The amount of linear travel of sliding mass600may be schematically indicated by arrows660. In this view, the actual position666of second end620of sliding mass600is schematically shown by “time dependent” vertical line666″′ indicating the transient position of second end620of sliding mass600in length of travel660. Arrow1320schematically represents a time dependent recoil force which may be created by time dependent acceleration of sliding mass600by linear motor500. Clip650may be removed from sliding mass600before or after installation of linear motor500to allow, if desired, during control of sliding mass600, first and second ends610,620of sliding mass600to enter plurality of coils520of linear motor500between first and second ends530,534of plurality of coils520.

FIG.10is a schematic flow diagram of various operation of the simulated firearm system shown inFIG.1. In one embodiment, controller50may be programmed to control linear motor500to control kinematic movement of sliding mass600within length of free travel660of sliding mass600to 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 motor500may include controlled sliding mass600along with motor logic controller504. Motor logic controller504may be operatively connected to controller50. Power supply60(e.g., 24 volts) may be connected to both linear motor's logic controller504and controller50. Because of the larger current demand of the linear motor500stator, a separate power supply60(e.g., 72 volts) may be connected to linear motor500.

Sequencing

FIGS.11to15are sequencing side views showing the sliding mass600of the linear motor500at four different positions relative to simulated firearm body20. In one embodiment, system10may be programmed to simulate recoil for different ammunition types that a user5may use in a particular rifle. Programming of system10may be accomplished by measuring the force vs. time of an actual round in a particular weapons system to be simulated by system10and by using the “free recoil” formula to determine the energy produced by the actual firearm system to be 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 system10may be programmed to cause sliding mass600to create reactionary forces that substantially match the same or similar force vs. time and free recoil energy that should be delivered to user5. This method may give the same perceived recoil as the live ammunition fired from the actual firearm being simulated for user5.

Accordingly, by changing the stroke distance, velocity, acceleration, and/or deceleration at preselected time intervals or points of sliding mass600, the reactive recoil force imparted to user5from simulated firearm body20may 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 motor500change the dynamic movements of sliding mass600over 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 mass600to cause such reactionary force.

FIG.16is 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).FIG.16may be compared to sequencingFIGS.11to15. At time zero, second end620of sliding mass600is as shown inFIG.11at position666, and has just started to accelerate in the opposite direction of arrow1300(causing a reactive force in the direction of arrow1300to be imposed on simulated firearm body20and user holding body20). Linear motor500causes second end620of sliding mass600to accelerate and move in the opposite direction of arrow1300until second end620reaches position666′ (shown inFIG.12) having contact with first end810of stop800. Immediately before reaching666′, acceleration of sliding mass600causes a reactive force in the direction of arrow1300(shown at time 16 milliseconds inFIG.16and in a negative reactive force). However, immediately after impact between second end620and first end810, such collision/contact causes an acceleration of sliding mass600in the opposite direction of arrow1310creating a reactive force in the direction1310(shown between times 16 and 36 milliseconds inFIG.16and being a positive reactive force). During this same time period of contact/collision between second end620and first end810, linear motor500may independently accelerate sliding mass in the opposite direction of arrow1310(adding to the reactive force1310shown inFIG.12by force vectors). From times 36 to 66 milliseconds on the graph shown inFIG.16, controller50may be programmed to cause linear motor500to control acceleration of sliding mass500to create the desired simulated recoil reactive forces.

FIG.13shows second end620at position666″′ where linear motor may cause sliding mass600to accelerate to create a reactive force shown at 41 milliseconds inFIG.16.FIG.14shows second end620at position666″′ where linear motor may cause sliding mass600to accelerate to create a reactive force shown at 56 milliseconds inFIG.16.FIG.15shows second end620at starting position666for the next recoil cycle. Now between possible666″′ shown inFIG.14to position666shown inFIG.15, linear motor500may have to accelerate sliding mass in the direction of arrow1330(to eventually slow and then stop sliding mass600at position666to 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 body20and user5. Such negative reactive force is not shown inFIG.16and 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 mass600being controlled by linear motor500.

To simulate multiple firing cycles, the linear motor500may control dynamic movement of sliding mass600to create repeated force versus time patterns/diagrams of kinematic movement of sliding mass600for the desired number of times or cycles.FIG.17is 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).FIG.17shows a different bullet with different force versus time curve to be simulated by programmed linear motor500controlling kinematic movement of sliding mass600. Additionally, the overall period of the curve may be different from 66 milliseconds and may change depending of the recoil characteristics of the firearm being simulated firing a particular bullet.

The ability of linear motor500to create reactive forces with sliding mass600may be further enhanced by the alternating of the mass of sliding mass600. In one embodiment, the different overall lengths for sliding mass600may 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 mass600may be 270 mm in length slider, or may be 350 mm in length, and such optional sliding masses600,600′ may be interchanged with linear motor500to modify the mass of the sliding mass600. The 270 mm sliding mass600has a mass of 215 grams and the 350 mm sliding mass600′ 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 mass600changes the overall acceleration and length of travel660linear motor500has to approximate the force vs. time curve produced by particular rounds of ammunition.

With a shorter sliding mass600, linear motor500may 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 masses600,600′ may be computed as follows:
Etgu=0.5*mgu*vgu2

Since there will be no powder or velocity of the powder charge, these corresponding values (vc& mgu) go to zero, resulting in the standard kinetic energy formula K=(0.5*m*v2). The maximum values achieved for Etguare as follows for both sliders:

Sliding MassSliding MassSliding MassOverall MassFreeLengthMassAccelerationof FirearmRecoil270 mm215 grams7.35 m/s21.5 kg2.539 J350 mm280 grams7.4 m/s21.5 kg4.071 J

FIGS.18to21are schematic sequencing diagrams illustrating an individual5repetitively firing of a firearm simulating body20with 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 individual5for accuracy.

One embodiment uses firearm simulating body20with linear motor500simulating 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 switch450may have three modes of operation (1) semiautomatic, (2) burst, and (3) fully automatic. Schematically shown inFIGS.18to21is a user fire after selecting burst mode. In burst mode (2), a series of three simulated bullet firings may be performed by system10.

User5selects which type of simulation for this particular firearm is desired by using selector switch450. As schematically shown inFIG.18, user5may aim simulated firearm body20at target area1400. User5may then pull on trigger170which is connected to trigger switch172, sending a signal to controller50. Controller50may control linear motor500which in turn may control sliding mass600. Controller50may also control laser emitter1200. 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 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 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 deformation 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 body20and substantially track its motion profile. In embodiments, optical tracking of peripheral body20may be accomplished by placing optical markers on body20in key points that may not be obstructed by user5and may allow pre-programmed cameras (optical trackers) to successfully track the orientation of body20for gaming and simulations training. In an embodiment, direct field sensing may be used to track body20through a gyroscopic sensor—or other inertial sensor—placed on body20to gauge the change in angular orientation and by magnetic tracking placed on body20. Both sensors add to the achievable resolution for tracking body20. In one embodiment, direct field sensing (magnetic & inertial tracking) may be used together with optical tracking to track firearm peripheral body20for enhanced resolution of position of body20in 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, body20may be any type of simulated body providing haptic effects according to the present disclosure, including gaming devices/peripherals or firearms.

Controller50may control linear motor500causing sliding mass600to 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. Controller50may also be connected to an infrared laser system1200which may be in phase with user5pulling trigger170. Laser1200may simulate on the target screen (area1400or1410) where a bullet would have traveled from simulated firearm body20. If laser1200is 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 body20. This may allow trigger170to be pulled by user5and an accurate calculation of bullet trajectory may be performed and inserted into the simulation for real-time tracking and game play.

InFIG.19, the first of the three simulated burst rounds, laser1200may shoot laser line1220and have a hit1221in target area1400. InFIG.20, the second of the three simulated burst rounds, laser1200may shoot laser line1230and have a hit1231in target area1400(but closer to non-target area1410). InFIG.21, the third of the three simulated burst rounds, laser1200may shoot laser line1240and have a hit1241in non-target area1410. Arrow1350schematically represents the simulated recoil placed on body20causing aim of user5to degrade. With repeated use of system10, user5may 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 user5. If user5fires off of the screen1400, this may count as “non-target” space1410. These targets1400may 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 user5:

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 space1400and 6 shots in the non-target space1410, the formula would read:

Accuracy=[[10-6]/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 space1400for which he is aiming, system10may help to train user5to 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 barrel310may be laser emitter1200. Laser emitter1200assembly may include a circuit board, a battery box, a switch, and a laser emitter. Laser emitter1200may be preferably housed within barrel310, and may be oriented to emit a laser beam substantially parallel to and coaxial with the longitudinal centerline of barrel310.

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 body20through joysticks or through magnetic or optical tracking of body20. User5may also be tracked directly by magnetic or optical tracking instead of indirectly by applying the tracking only to firearm body20. Thus, by adding additional locomotion—other than 2D stationary aiming via laser1200—a more immersive and comprehensive level of realism may be obtained in game play and training simulation. While firearm peripheral body20is 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 semitransparent 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 (CGI), 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.

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 Star1200product 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 25 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. One application of this technology was in the game Mech Warrior® 2, which permitted users of the Sony Glasstron or Virtual I/O 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 P54®.

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 body20, including a linear motor recoil/shock system, and allows user5to fire with 3D positional tracked body20at simulated targets inside a 3D virtual space while generating recoil to emulate gun fire. In one embodiment, a HMD 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 user5to interact with the virtual space by generating haptic output via linear motor500with 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 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 simulator10inFIG.1, controller50may 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 motor500. Embodiments include configurations where the components of controller50may also be located within body20of the simulator10. The existing infrastructure may be connected to the simulations/gaming computer that may keep track of in game/in simulation statistics for user5. 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, controller50may plug into these receptacles for communication to the simulations/gaming computer. Once the simulations/gaming computer is connected to controller50, either in a wired/wireless or hybrid configuration, it may then keep track of system10for evaluation of user5. For example, computer may determine how many rounds have been spent by user5in the training exercise, whether user5is properly squeezing the trigger based on accelerometer or comparable sensor data from the trigger, and/or if user5has taken a hit from in game/in simulation targets.FIG.51is a diagram illustrating data collection from user5on 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 motor500in additional scenarios/gameplay.

FIG.22is a perspective view of another embodiment of a linear motor500and sliding mass600. Linear motor500may include sensors550and552, which may be Hall Effect sensors.FIG.23is a perspective view of a sliding mass600with exemplary plurality of magnets640removed.FIG.24is an enlarged perspective view of the sliding mass600with exemplary magnets640removed. InFIGS.23and24, the plurality of magnets640(e.g., magnets642,644,646, etc.) may include neodymium. Additionally, between pairs of magnets640may be spacers (e.g., spacer643between magnets642and644, and spacer645between magnets644and645). In a preferred embodiment, the spacers may include iron (such as ferromagnetic iron). In embodiments, plurality of magnets640may be aligned so that like poles face like poles (i.e., north pole to north pole and south pole to south pole). As shown inFIGS.23and24, starting from the left hand side, left pole of first magnet640is north and right pole of the first magnet640is south. In the middle, left pole of second magnet640is south and right pole of the second magnet640is north. Finally, in third magnet640located at the rightmost portion, left pole of third magnet640is north and right pole of the third magnet640is south. In exemplary embodiments, the pattern of like magnetic poles facing like magnetic poles repeats throughout slider600. Thus, the plurality of magnets640contained in slider/driven mass600may have similar poles facing each other creating a repelling force. In a preferred embodiment, the outer shell of sliding mass600may longitudinally hold the plurality of magnets640and 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 coils520of linear motor500and plurality of magnets640of sliding mass600. In one embodiment, the sliding mass600may use a combination of magnetic materials, for instance neodymium magnets and ceramic magnets, such 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 mass600, a slider600may be chosen such that the most expensive and strongest magnets sit within the coil(s) of linear motor500prior to movement. This allows a high energy input into the linear motor system that is efficient at accelerating the sliding mass600to 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.

FIG.22represents a linear motor system with linear motor500and sliding mass600.FIG.60shows sliding mass600including 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 mass600quickly during the initial part of the linear motor system's stroke. When a ceramic magnet is reached, linear motor500may still have control of sliding mass600and 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 motor500to perform at substantially the same functionality for recoil/shock effect and haptic feedback movements.

In one embodiment, the sliding mass600may have different length magnets of different types of magnets.

In an embodiment, the sliding mass600may 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 mass600may 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 motor500may be modified such that the coil(s) give the most efficient energy transfer possible for both magnet types.

In an embodiment, the linear motor500may be modified such that the coil(s) give the most efficient energy transfer possible for one magnet type.

In one embodiment, the sliding mass600may 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.

FIGS.25to29schematically show operation of linear motor500and sliding mass600as the plurality of magnets640are driven by the plurality of coils520.FIG.25is a schematic diagram illustrating operation of the plurality of coils520in a linear motor500.FIGS.26and27are schematic diagrams illustrating operation of the coils520in a linear motor500in two different energized states.

InFIG.25, coils521,523, and525in the stator of linear motor500may 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). Coils522and524may 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 coils520of linear motor500may 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 coils520to 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 inFIGS.26and27. InFIG.26, phase 1 and phase 2 are polarized in the same direction so that coils in the two phases are attracted to each other. InFIG.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 coils520of linear motor500, sliding mass600may be controllably moved as desired through the plurality of coils520so as to create the desired reactive forces which may include time dependent controlled force (impulse), acceleration, velocity, position, and/or momentum.

FIGS.28and29are schematic diagrams illustrating movement of the plurality of magnets640of sliding mass600through the plurality of coils520in linear motor520in different energized states.

FIG.28schematically indicates initial movement of sliding mass600with plurality of magnets640through plurality of coils520of linear motor500. InFIG.28, the first magnet642of sliding mass600enters plurality of coils520of linear motor500. Plurality of coils520may then be energized with phase 2 polarized as shown and phase 1 not being energized (or OFF). This causes magnet642(and sliding mass600) to be pulled deeper into plurality of coils (schematically indicated by the arrow towards the right). As schematically shown inFIG.29, when first magnet642moves halfway into coil522, phase 1 may be energized (or turned ON), thereby creating a pulling force on magnet642and speeding the second magnet644to the center of coil521while at the same time repelling the magnet642. The movement of sliding mass600eventually stops when the plurality of magnets640reach steady state with the plurality of coils520, which in this case means that the north pole of coils521and522are aligned with the north poles of magnets644and642, respectively; and north pole of coil522is aligned with south pole of magnet644and south pole of coil521is aligned with the north pole of magnet642. 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 inFIGS.25through29through may be increased to have a larger accelerating cross-section.

In one embodiment, there may be two or more phases in linear motor500.

In another embodiment, two phases in linear motor500may use two or more coils520.

The velocity, acceleration, and linear distance of sliding mass600may be measured as a function of Hall Effect sensors550and552that are 90 degrees out of phase. Out of phase Hall Effect sensors550and552may each produce a linear voltage in response to increasing or decreasing magnetic fields.FIG.22shows the mechanical alignment in linear motor500and sensors550,552. The response that sensors550and552give as a function of magnetic field strength (flux through the sensor) versus voltage (out of the sensor) is depicted inFIG.30, which is a diagram illustrating magnetic flux density versus voltage output.

FIGS.31and32are exemplary diagrams of sensors550and552voltage response versus time for a slider moving through the linear motor. When sliding mass600is moved through the plurality of coils520of linear motor500, 90 degree out of phase sensors550and552provide a voltage response versus time falling into a Sine or Cosine function as indicated inFIGS.31(sine(x) for sensor550) andFIG.32(cosine(x) for sensor552). These resultant waves are generated by sensors550and552because generated magnetic flux for the plurality of magnets640inside sliding mass600are 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 sensor550gives a function of Sin(x) and the other sensor552gives a function of Cos(x). As shown, these functions are 90 degrees out of phase. Two sensors550and552may be used for better precision feedback and control of sliding mass600through the plurality of coils520of linear motor500, and as a method to make sure sliding mass is continually tracked accurately.

To provide additional explanation, sensor550generating a sine wave is plotted inFIG.31, and will be further examined regarding how this graph may be used to track velocity, acceleration, and displacement of sliding mass600.FIG.32illustrates the cosine wave generated from sensor552.FIG.33is a diagram of a sample waveform which illustrates the various components of a waveform generated by sensor550. The wavelength (λ) relates to the velocity of sliding mass600through plurality of coils520of linear motor500. As the wavelength shortens, the frequency may be calculated by f=1/λ, and the frequency will increase as the wavelength shortens.

FIGS.34and35are exemplary diagrams of sensor550voltage response versus time for a sliding mass600moving through linear motor500at two different constant linear speeds. For example, inFIG.34, sliding mass600may be said to be moving through plurality of coils520at 1 meter per second and generating this wave.FIG.35may be generated as sliding mass600speeds up to 2 meters per second. As shown, an increase in wave frequency corresponds to the velocity with which sliding mass600is moving through the plurality of coils520of linear motor500. Furthermore, the change in waveform fromFIG.34toFIG.35relates to the acceleration of sliding mass600.FIGS.34and35each individually represent constant velocities of sliding mass600(although the constant velocity inFIG.35is twice that of the constant velocity in

FIG.34) so that in each of these two figures, there is no acceleration; however, as sliding mass600slider approached 2 meters per second linear speed shown inFIG.35, the frequency increased to the value inFIG.35: that frequency change over time may be used to compute acceleration of driven mass600. Lastly, the distance traveled by driven mass600may be calculated by knowing the length of the plurality of magnets640in sliding mass, and counting the number of wavelengths that go past sensor550. Each wavelength may correspond to the full length of the permanent magnet inside the body of sliding mass600. Additionally, waveforms from both sensors550,552may be used to keep slider600in a steady state (non-moving). By looking at the output of sensors550,552, 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 controller50that 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 sensors550,552.

Emulating Overall Recoil Impulse

In one embodiment, linear motor500and sliding mass600may 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 motor500controlling movement of sliding mass600. Such generated recoil force may be transmitted to a user5holding simulated firearm body20of simulator system10. 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 diagram1600of a reactiveforce generated by linear motor500controlling movement of sliding mass600(e.g., acceleration, velocity, and distance) over time.

FIG.16shows prophetic examples of diagrams for actual recoil force1500versus time, along with generated recoil force1600versus time. The area under the actual recoil force versus time diagram1500is the actual recoil impulse. The area under the generated recoil force versus time diagram1600is 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 diagrams1500,1600of actual recoil over time versus reaction forces generated by linear motor500and sliding mass600over time closely track each other so that the impulse and reactive impulse are approximately equal. However, in different embodiments, the actual recoil over time diagram1500versus reaction forces generated by linear motor500and sliding mass over time1600may 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.

FIG.36shows a single diagram with three force versus time plots: (1) force versus time of actual forces1500(first plot for an M16/AR-15 type rifle firing a .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 stop1600, and (3) force versus time of generated reactive forces from linear motor and sliding mass without using a mechanical stop1600′. A positive value of force indicates a force pushing user5backward. As shown by the time, a firing cycle of about 90 milliseconds is used.

Diagram1600includes a spike1610when the sliding mass600hits the mechanical stop800, and the areas under each plot1500,1600should be roughly the same to get the same overall impulse. For diagram1600, time1700indicates the initial contact between sliding mass600and mechanical stop800. In different embodiments, because the time period for the collision between sliding mass600and mechanical stop800is so short (about less than 5 milliseconds), time of initial contact1700may also be calculated using the time of peak reactive force1620.

FIG.36shows the peak1520of actual recoil force1500which is compared to the peak1620of generated recoil force1600, and the difference1630between such peaks. In various embodiments, mechanical stop800may be used to generate a spike1610in the generated recoil force, which spike1620has a difference of1630compared to the peak1520of actual recoil force1500.

In various embodiments, peak1620may be such that the difference1630may be minimized. In embodiments, during an emulated firing sequence, the difference1630is less than 50 percent of the peak1620. In various other embodiments, the difference1630is less than no more than 45, 40, 35, 30, 25, 20, 15, 10, 5, 4, 3, 2, and/or 1 percent of the peak1620. In embodiments, the difference1630may be within range between any two of the above referenced percentages of peak1620.

In various embodiments, the average generated recoil force by linear motor500controlling sliding mass600during a particular simulated firing sequence before initial contact of sliding mass600with mechanical stop800at time1700may be calculated by calculating the impulse up to initial impact at time1700divided by the time at time1700. In embodiments, the peak1620of generated reactive force is at least 50 percent greater than the average generated recoil force by linear motor500controlling sliding mass600during a particular simulated firing sequence before initial contact of sliding mass600with mechanical stop800at time1700. In various embodiments, the peak generated reactive force1620is 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 motor500controlling sliding mass600during a particular simulated firing sequence before initial contact of sliding mass600with mechanical stop800at time1700. 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 motor500controlling sliding mass600during an entire particular simulated firing sequence may be calculated by calculating the impulse during the entire firing sequence and dividing the time for such entire firing sequence. In various embodiments, the peak1620of generated reactive force may be at least 50 percent greater than the average generated recoil force by linear motor500controlling sliding mass600during an entire particular simulated firing sequence (i.e., both before and after initial contact of sliding mass600with mechanical stop800at time1700). 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 motor500controlling sliding mass600during 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 motor500controlling sliding mass600during a particular simulated firing sequence after initial contact of sliding mass600with mechanical stop800at time1700may be calculated by calculating the impulse following initial impact at time1700divided by the time following time1700. In embodiments, the peak1620of generated reactive force is at least 50 percent greater than the average generated recoil force by linear motor500controlling sliding mass600during a particular simulated firing sequence subsequent initial contact of sliding mass600with mechanical stop800at time1700. In various embodiments, the peak generated reactive force is greater than 55, 60, 65, 70, 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 motor500controlling sliding mass600during a particular simulated firing sequence subsequent to initial contact of sliding mass600with mechanical stop8—at time1700. In embodiments, a range between any two of the above referenced percentages may be used for comparison.

FIG.37is an exemplary diagram of an acceleration versus time plotted for recoil acceleration for an actual firearm1502, compared to simulated acceleration of the sliding mass caused by the method and apparatus using a mechanical stop1602, and not using a mechanical stop1602′. Force from the acceleration diagrams may be calculated using the formula force equals mass times acceleration.

FIG.38is an exemplary diagram of a velocity versus time plotted for recoil velocity for an actual firearm1506, compared to simulated velocity of the sliding mass25caused by the method and apparatus using a mechanical stop1606, and not using a mechanical stop1606′.

In one embodiment, stop800may be employed to modify the generated recoil force diagram from linear motor500controlling sliding mass600by sharply increasing the reactive force at the point of collision between sliding mass600and mechanical stop800. A mechanical stop800may be employed inside the simulated firearm body20to “rigidly” (i.e., more quickly negatively accelerate to zero sliding mass600than linear motor500is capable of) at the end of allowed length of travel660. Such quick stop produces an enhanced recoil effect on user5, and higher generated reactive force. In one embodiment, the reactive force generated by sliding mass600colliding with mechanical stop800may be greater than any force generated by linear motor500accelerating sliding mass600during an emulated firing sequence.

In embodiments, during an emulated firing sequence, the maximum reactive force generated by linear motor500accelerating sliding mass600is no more than 50 percent of the reactive force generated by sliding mass600colliding with mechanical stop800. In various embodiments, the maximum reactive force generated by linear motor500accelerating sliding mass600is no more than 55, 60, 65, 70, 75, 80, 85, 90, 95, 99, and/or 100 percent of the reactive force generated by sliding mass600colliding with mechanical stop800. In other embodiments, the maximum reactive force generated by linear motor500accelerating sliding mass600may be within range between any two of the above referenced percentages of the maximum reactive force generated by linear motor500controlling sliding mass600.

In various embodiments, either actual recoil impulse and/or the generated recoil impulse by linear motor500controlling sliding mass600are 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 motor500controlling sliding mass600may be less than about 200 milliseconds. In embodiments, the maximum time for an emulated firing cycle may be less than about 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 motor500and magnetic mass/shaft600movement (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 coils520of linear motor500as a magnet in magnetic mass/shaft600passes 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/shaft600may be measured directly and/or indirectly (such as by sensors550and/or552), and linear motor500may change/set the strength of the magnetic field generated by plurality of coils520to achieve a predetermined value of acceleration, velocity, and/or position versus time for sliding mass600. In different embodiments, the predetermined values of emulated acceleration, velocity, and/or position versus time may 25 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 system10may be provided one or more of the following options in using system10regarding changes in a type of firearm for which recoil is to be simulated by system10:(a) different size/caliber/type of ammunition in actual type of firearm 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, system10may cause linear motor500to control sliding mass600to 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 controller50and attached linear motor500, have different firearm attachments (e.g., AR-15 rifle unit attachment, and Glock pistol unit attachment). Magnetic sliding mass/shaft600slidably connected to the linear motor500may also be changed, without also changing the linear motor500.

In various embodiments, simulator10may include a plurality of different body attachments20,20′,20″, etc. for simulating recoil patterns from a plurality of different type firearms, each of the plurality of body attachments being interchangeably operably connectable with linear motor500. In embodiments, each of the plurality of body attachments20,20′,20″, etc. may include unique identifiers that inform controller50in the selection of one of a plurality of predefined sets of recoil simulating kinematic movements of sliding mass600in 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 attachment20,20′,20″, etc, operably connectable to linear motor, controller50may select one of the plurality of predefined sets of kinematic movement to control linear motor500in controlling sliding mass600to create a series of predefined movements for sliding mass600and 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 attachment20is connected to linear motor500, communicate with microcontroller50(shown inFIG.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 attachments20,20′,20″, etc. includes a plurality of different type rifles. In embodiments, the plurality of interchangeable different type body attachments20,20′,20″, etc. includes a plurality of different type shotguns. In one embodiment, the plurality of interchangeable different type body attachments20,20′,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 attachments20,20′,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 apparatus10such as where the body attachment20and/or linear motor500are not hard wired to the controller50but 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 motor500and/or controller50and/or other components. In one embodiment, the battery power supply for the linear motor may be contained in the body20(such as where the battery simulates an ammunition clip to be inserted into body20).

Handgun

In an embodiment, a method and apparatus for charging or “cocking” simulated handguns using a linear motor system500may be provided where the linear motor500is in the path of cocking of the slider900.

In one embodiment, a handgun10with linear motor500may be provided having a mechanical sear680and spring950. In embodiments, the spring950includes a spring constant emulating the force required to charge or “cock” a slider900of the handgun being simulated. In other embodiments, the spring950includes a spring constant which stores substantially the same amount of potential energy as the work energy required to charge or “cock” the slider900of the handgun being simulated.

In embodiments, a handgun10may be provided with linear motor500emulating the spring constant of the force required to charge or “cock” the slider900of the handgun being simulated. This may be accomplished by treating the linear motor as a simple spring.FIG.61shows 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 (Δx) determines the spring's force pulling back on the user, typically as the distance x increases so does Frestoreuntil material deformation 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 k1 . . . 2 . . . 3. . . to emulate other mechanical resistances encountered in a typical handgun platform's linear movement associated with charging or “cocking” the weapon slider900. For instance, as the motor's slider is moved to position Δx it may apply a spring constant k1to 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(Δx) it may apply a spring constant k2to the user varying Frestoreover 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.

FIG.39is a side view of another embodiment of a simulated firearm10simulating a hand gun.FIG.40is a side view of a simulated hand gun system10, taken from the opposite side as shown inFIG.39.FIG.41is an exploded view of the simulated hand gun system10.

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 motor500, sliding rod/mass600, and controls. Volumetric region978may include controlling circuitry for the linear motor500and power supply60(taking the place of controller50shown in the embodiment ofFIG.1). Sec, e.g.,FIG.41. In various embodiments, volumetric areas970and/or974, in addition to (or instead of) volumetric area978may be used to house the controlling circuitry. This configuration may allow the entire control system to be housed in simulated firearm body20providing a compact property for the simulator.

Control circuitry may be operatively connected to the linear motor500, the charging slider900, and/or the trigger170. Control circuitry may react to user request actions such as charging (cocking) the slider900or pulling the trigger170to operate the linear motor500to 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 motor500for the sliding rod/mass600, 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/mass600, and the control circuitry may operatively control the linear motor500to cause the sliding rod/mass600to 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/mass600for the linear motor500. In embodiments, the controller may be programmed based on parameters inputted by user5.

Volumetric areas970and974may be used to step-up to the required voltage (DC to DC converter) from the battery60and also to drive the power waveforms into the linear motor500for motion control of the sliding rod/mass600. By keeping the volumetric areas970and974to the top of the handgun system10, around the linear motor500, convection currents from the movement of the slider900(whether it be by charging or by movement induced by the linear motor500moving the sliding rod/mass600) may be exploited to help remove waste heat from the recoil reaction and the electronics of the linear motor500that 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 motor500for recoil simulation as well as the appropriate space and heat transfer materials/methods to remove waste heat from the linear motor500after each trigger pull or charging of the simulated weapon by the user. Additionally, if the sliding mass600moves directly with the handgun slider900during charging or “cocking” of the simulated handgun, the energy input from charging or “cocking” by user5may 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.

FIG.62shows 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 user5is 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 user5to get ready to load the simulated device. For example, user5grabs the simulated firearm slider900and 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 motor500through 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 user5may let go of the slider900and the switch or sensor may recouple the linear motor coil(s) to the driving electronics.

For control loop implementation, the linear motor500may 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 motor500may be controlled via a PID controller and substantially has the PID implementation programmed to produce recoil/shock effects. In another embodiment, the linear motor500may be controlled via a LQR controller and substantially has the LQR implementation programmed to produce recoil/shock effects. In other embodiments, the linear motor500may be controlled via a LQG controller and substantially have the LQG implementation programmed to produce recoil/shock effects.

In embodiments, movements of linear motor500may be more efficient using a PID controller for the production of recoil/shock effects. In one embodiment, movements of linear motor500may be more efficient using a LQR controller for the production of recoil/shock effects. Movements of linear motor500may be more efficient using a LQG controller for the production of recoil/shock effects.

Linear motor500may be more efficient using a PID controller for the production of recoil/shock effects and the regenerative charging that occurs from input of user5as discussed above. In another embodiment, linear motor500may be more efficient using a LQR controller for the production of recoil/shock effects and the regenerative charging that occurs from input of user5as discussed above. In yet another embodiment, linear motor500may be more efficient using a LQG controller for the production of recoil/shock effects and the regenerative charging that occurs from input of user5as discussed above.

Generally, hand gun system10may include hand gun body20, linear motor500operatively controlling sliding rod or mass600, wherein linear motor500is attached to simulated firearm body20, controller50operatively connected to linear motor500, and power supply60powering controller50. In this embodiment, hand gun system10may include a cocking slider900having first910and second920ends.

FIG.42is a side view of the upper receiver120of hand gun system10.FIG.43shows the internal components of the upper receiver120ready for cocking of the slider900before the initiation of a simulation cycle.

Upper receiver120may include slider900, linear motor500, sliding mass600, and spring950. As with other embodiments, linear motor500operatively connects to sliding mass600and dynamically controls the kinematic movements of sliding mass600to cause a predefined kinematic output from sliding mass600to simulate recoil from the firing of the handgun.

Slider900may be slidingly connected to linear motor500. Sliding mass600may be elastically connected to slider900via spring950. Slider900may include first end910and second end920. Sliding mass/rod600may include first end610and second end620. Spring950may include first end954and second end958.

FIG.44schematically shows slider900being pulled backwardly (in the direction of arrow904) to cock the simulated hand gun.FIG.45schematically shows slider900returning to a pre-firing simulated position for the simulated hand gun. Before a firing cycle catch680resists longitudinal movement of sliding mass/rod600along longitudinal center line508, by catch680being in contact with second end620.

During a simulated hand gun charging operation, when a user5is pulling rearwardly the simulated hand gun's slider900, the trigger pin or sear680resists rearward longitudinal movement of the linear motor's sliding rod/mass600. During rearward pulling of the slider900, the trigger pin or sear680blocking rearward longitudinal movement of the linear motor's sliding rod/mass600removes any need to power the linear motor500to resist the rearward movement of the linear motor's sliding rod/mass600during the simulated hand gun charging operation. With sliding mass/rod600held longitudinally in place, slider900may be pulled backwardly (schematically indicated by arrow904) to simulate a cocking of a hand gun. Movement of slider900in the direction of arrow904may cause expansion of spring950which is attached to both second end920of sliding mass/rod600and second end920of slider until shoulder914of slider900comes in contact with a stop such as first end501of linear motor500. User5may release slider900and expanded spring950will cause slider900to move forwardly in the direction of arrow906.

During the simulated handgun charging operation, when the user5releases the slider900of the simulated handgun, the spring950may pull the slider900forwardly until the slider900reverts to the position shown inFIG.45. During the cocking procedure catch680prevents sliding mass/rod600from moving longitudinally in the direction of arrow904. Spring950connected to both the sliding mass/rod600of linear motor500and slider900of the simulated handgun may have a spring constant to simulate the amount of resistance that a user5charging/cocking a real handgun would feel when charging the handgun by pulling on the handgun's slider.

Pulling the trigger170may cause the trigger pin or sear mechanism680to release the linear motor's sliding rod/mass600, and then power the linear motor500. Powered linear motor500may enter a simulation cycle wherein the linear dynamic movement of the sliding rod/mass600is controlled by the linear motor500to simulate the recoil forces that a user of an actual hand gun would feel when firing the actual hand gun.FIG.46schematically shows linear motor500moving sliding mass/rod600rearwardly (schematically indicated by arrow992) to emulate recoil of a hand gun until the shoulder914of the slider900hits a mechanical stop (in this case shoulder914coming in contact with first end501of linear motor500). The simulation cycle may begin by trigger170being pulled in the direction of arrow990which both activates controller60to control linear motor500to enter a simulation cycle, and also causes catch680to move in the direction of arrow991and release sliding mass/rod600. Other forms of mechanical stops may be envisioned such as those described in other embodiments in this application, e.g., first end610coming in contact with a stopping shoulder on the simulated hand gun other than first end501. During movement in the direction of arrow992, second end620of sliding mass/rod600may push on first end954of spring950which is completely compressed, and second end958of spring950may push on second end920of slider900. Accordingly, during the initial stroke of sliding mass600in the direction of arrow992, the effective/actual mass being controllably kinematically moved by linear motor500is the combined mass of sliding mass/rod600plus spring950plus slider900. 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 motor500in the mode of returning sliding mass/rod600to a pre-firing simulated position for the simulated hand gun shown inFIG.45. Arrow994schematically indicates that, after slider900hits the mechanical stop, linear motor500causes sliding mass/rod600to now be controllably moved in a forward direction (schematically indicated by arrow994) until sliding mass/rod600reaches its pre-firing simulated position for the simulated hand gun shown inFIG.45. During the reverse stroke (in the direction of arrow994) second end620of sliding mass/rod600may pull on first end954of spring950which becomes somewhat extended based on its spring constant, and second end958of spring950will in turn pull on second end920of slider900. Accordingly, during the return stroke of sliding mass600in the direction of arrow994, the effective/actual mass being controllably kinematically moved by linear motor500may be the combined mass of sliding mass/rod600plus spring950plus slider900(assuming that the spring constant of spring950is relatively large compared to the mass of slider900).

The kinematic control of linear motor500may be programmed to kinetmatically control (e.g., acceleration, velocity, and/or position) the mass which linear motor500moves 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.

FIG.47shows a simulated hand gun system10with removable power supply60replicating a magazine.FIG.48shows a side view of the power supply60. Power supply60may include first end61and second end62with electrical contacts64,65. In one embodiment, the simulated ammunition clip60with power supply may include the same look and feel (other than the power contacts) as the magazine of the gun being simulated. Contacts64,65may 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 motor500may be powered down between recoil simulation cycles, but maintain the sliding mass/rod600home simulation position before the start of each simulation cycle. Powering down the linear motor500reduces overall power consumption because between simulation cycles the linear motor500does not drain power to maintain the sliding rod/mass600home or pre-simulation position. Powering off linear motor500between simulation cycles may also facilitate charging of the power supply60to the method and apparatus.

Methods of Wireless Power

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.

FIG.63shows a shortened simulated handgun magazine as described herein regardingFIGS.47and48. 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 inFIG.48or 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.

FIG.64shows the same simulated handgun magazine asFIG.63with 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 motor500may 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 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.

FIG.65is 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. SeeFIG.66. As shown, the motor is maintaining position along linear path (not firing). User5may grab charging handle, signaling for motor controller to reduce power to motor (signaled via button or sensor). User5may 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). SeeFIGS.67and68. The motor's reduced power may emulate the spring in normal cocking mechanism and user5may 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 inFIG.61, the linear motor is treated as a simple spring. Frestoreis 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 (Δx) determines the spring's force pulling back on the user, typically as the distance x increases so does Frestore 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 k1 . . . 2 . . . 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 Δx it may apply a spring constant k1to 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(Δx), it may apply a spring constant k2to the user varying Frestoreover 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.

FIG.51schematically illustrates one embodiment of the method and apparatus of system10. System10may 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 motor500via controller50though serial, CAN bus, and/or other communications bus/protocols between the “Game” and Linear Motor500blocks depicted inFIG.51. This allows for the “Game” portion of the diagram to interpret signals from user5as described herein and then feed those signals into the plugin so linear motor500may be arbitrarily moved in a manner specified by gaming/simulation conditions. An example of this interaction between the gaming environment and user5may be illustrated with reference toFIG.82. As shown, user5is seated via a chair gaming/simulation peripheral, and user5is also holding a VR peripheral with attached shock stick. A communications interface may be established between the VR peripheral (including the linear motor500) and the simulation/gaming environment or “Game” block inFIG.51. Since the VR peripheral may be able to report its position in free space via positional trackers as described herein, the “Game” portion ofFIG.51may be able to capture the VR peripheral's location in free space. While user5is holding the VR peripheral as shown inFIG.82, the “Game” portion ofFIG.51may interpret this configuration as the VR peripheral being setup as a typical handgun or rifle. Thus, the “Game” portion ofFIG.51may direct linear motor500via the plugin to emulate a typical firing sequence when the trigger is depressed. If user5then holds the VR peripheral body perpendicular to the position shown inFIG.82, the “Game” portion ofFIG.51may interpret the change in position to mean that the VR peripheral should be considered a chainsaw. Thus, the “Game” portion ofFIG.51may direct linear motor500via the plugin to emulate a typical chainsaw effect where linear motor500moves slider600in 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 motor500from 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 motor500.

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 motor500.

In another embodiment, the plugin may have a drop down menu so typical linear motor effects may be easily assigned to different events.

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 ofFIG.51as described herein.

In one embodiment, the plugin may receive temperature and power usage data from linear motor500.

In another embodiment, the plugin may use the temperature and power usage data, as described herein, to calculate the maximum movements for the motor500to keep it from failing (slider600jogging out of distance, using too much power, etc.)

Wand Embodiment

FIGS.49through51illustrate one embodiment for incorporating linear motor500into a wand2000gaming piece.FIG.49shows one embodiment of a simulated magical wand2000with a linear motor500removed.FIG.50shows a user5with a gaming wand2000.

Wand2000may include first end2010, second end2020and have longitudinal center line2050with a center of gravity2060. Linear motor500with longitudinal centerline508may include sliding mass/rod600and be incorporated into the interior of wand2000. The incorporation of linear motor500into wand2000may be such that centerline508is coincident with centerline2050causing sliding movement of sliding mass/rod600to be along center line2050. In other embodiments, centerline508may be spaced apart an arbitrary angle from centerline2050in either a parallel or non-parallel condition. When spaced apart and parallel, sliding movement of sliding mass/rod600may be parallel but not along center line2050. When spaced apart and non-parallel, sliding movement of sliding mass/rod600may be both not parallel and not along center line2050.

In various embodiments, during game play the center of gravity2060may be repositioned at least 25 percent of the overall length of wand2000. In embodiments, the center of gravity2060may be repositioned at least 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, and 90 percent of the overall length of wand2000. In various embodiments, the center of gravity2060may be repositioned along a range of between any two of the above referenced percentages of the overall length of wand2000.

In one embodiment, linear motor500and sliding mass/rod600may 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 motor500effects to be imposed on the user created by controlled movement of the sliding mass/rod600.

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 wand2000to 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 motor500may cause sliding mass/rod600to 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 motor500may cause sliding mass/rod600to 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 motor500may cause sliding mass/rod600to 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:1) The user begins to cast their spell by moving the wand2000where the accelerometer(s) and gyroscope(s) are inserted.2) The accelerometer(s) and gyroscope(s) pass their collected information about wand2000′s movement to the game10.3) The game10interprets how the linear motor500should respond from preprogrammed data and then engages the linear motor500to move.4) The user is experiencing the vibration(s), shock(s), and changes in center of gravity2060that the linear motor500induces in the wand2000body or facade.

Tennis Racket

FIG.52shows one embodiment of a simulated tennis racket3000with a plurality of linear motors500and500′.FIG.53shows the simulated tennis racket3000with a plurality of linear motors500and500′ with the racket portion removed.FIG.54schematically illustrates a tennis ball hitting a tennis racket.

Racket3000may include hand grip3005, first end3010, second end3020, and have longitudinal center line3050with a home center of gravity3060.

Linear motor500with longitudinal centerline508may include sliding mass/rod600and be incorporated into the interior of racket3000. Linear motor500′ with longitudinal centerline508′ may include sliding mass/rod600′ and be incorporated into the interior of racket3000. The incorporation of linear motors500and500′ into racket3000may be such that centerlines508and508′ may be coincident with centerline3050causing sliding movement of sliding masses/rods600and600′ to be along center line3050. In other embodiments, centerlines508and/or508′ may be spaced apart an arbitrary angle from centerline3050in either a parallel or non-parallel condition. When spaced apart and parallel, sliding movement of sliding masses/rods600and600′ may be parallel but not along center line3050. When spaced apart and non-parallel, sliding movement of sliding masses/rods600and600′ may be both not parallel and not along center line3050.

The movement of the sliding masses/rods600and600′ allows for the movement of the center of gravity3060of racket3000relative to hand grip location3005to a new location3060′. Moving the center of gravity3060relative to hand grip location3005allows for the racket to simulate different rackets for the user. In various embodiments, the center of gravity3060may be located on the longitudinal axis3050. In other embodiments, the center of gravity3060may be located off of the longitudinal axis. In embodiments, the center of gravity3060may be relocated during game play. During game play, the center of gravity3060may be repositioned at least 25 percent of the overall length of tennis racket3000. In embodiments, the center of gravity3060may 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 racket3000. The center of gravity3060may be repositioned along a range of between any two of the above referenced percentages of the overall length of tennis racket3000.

Having a plurality of linear motors (e.g.,500and500′) 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/rods600and600′ respectively by linear motors500and500′ may simulation force, angular, impulse, vibrational, rotational, torque, along with other types of dynamic movement.

InFIG.53, centerline508makes an angle3200with centerline3050, centerline508′ makes an angle3200′ with centerline3050, and centerline508makes an angle3300with centerline508′. The different sliding angles and/or different sliding positions of sliding masses600and600′ along with independent kinematic control of sliding masses600and600′ 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).

FIG.54describes 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 location3005is the origin of the coordinate system. At the point of impact3080(having Cartesian coordinates Dx3081, Dy3082, and Dz3083) between the tennis racket3000and tennis ball, the tennis ball may have a velocity vector (having Cartesian velocity components Vx, Vy, and Vz) relative to the tennis racket3000. The relative velocity vector may take into account the calculated velocity vectors of both the tennis ball and the tennis racket3000. In one embodiment, the velocity of tennis racket3000may be assumed to be zero. In other embodiments, the velocity of the racket3000may be calculated based on gaming sensors in the racket3000game piece.

The relative forces (torque, force, and impulse) on the hand grip3005due to a hypothetical impact between the tennis ball (having a velocity vector and massb) with a point of impact3080on tennis racket3000having an overall massfrand center of gravity (at location3060) 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 location3005(e.g., what the user should feel) may be emulated by linear motors500and500′ controlling and/or independently moving sliding masses/rods600and600′.

In various embodiments, the hypothetical webbing3110may also be modeled and used in the calculation of the relative forces (torque, force, and impulse) on the hand grip3005due to a hypothetical impact between the tennis ball with tennis racket3000. In this case, the elasticity of the webbing3110may be set forth along with the tightness of the stringing, size of the web, and the relative location of the point of impact3080on the webbing to the center3160of the webbing.

In various embodiments, emulated relative torque at hand grip point3005may be created by linear motors500and500′ controlling and/or independently moving sliding masses/rods600and600′. In embodiments, emulated relative force at hand grip point3005may be emulated by linear motors500and500′ controlling and/or independently moving sliding masses/rods600and600′. In other embodiments, emulated relative impulse at hand grip point3005may be emulated by linear motors500and500′ controlling and/or independently moving sliding masses/rods600and600′.

Similarly, the relative forces (torque, force, and impulse) on the hand grip3005due to a second hypothetical impact between the tennis ball (having a second velocity vector) and the tennis racket3000with a second point of impact3080′ 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 location3005(e.g., what the user should feel) may be emulated by linear motors500and500′ controlling and/or independently moving sliding masses/rods600and600′.

Similarly, the relative forces (torque, force, and impulse) on the hand grip3005due 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 racket3000with a third point of impact3080″ (which happens to be the same location at first impact3080) 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 location3005(e.g., what the user should feel) may be emulated by linear motors500and500′ controlling and/or independently moving sliding masses/rods600and600′.

In various embodiments, the relative forces (torque, force, and impulse) on the hand grip3005caused by the impact between tennis ball and racket3000may be emulated by linear motors500and/or500′.

In embodiments, the method and apparatus actually calculate a post impact velocity vector for tennis ball after leaving tennis racket3000.

Various options using the one or more linear motors500,500′,500″, etc. are set forth below:(1) In one embodiment, a plurality of linear motors500,500′,500″ may be provided that independently control a plurality of different controllable weight units600,600′,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 30 receiving and holding one or more linear motors linear motors500,500′,500″ and controllable weight units600,600′,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 motors500,500′,500″ and controllable weight units600,600′,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 motors500,500′,50″ and controllable weight units600,600′,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 motors500,500′,500″ and controllable weight units600,600′,600″ may be provided, each having adjustable configurations including spacing and/or orientation of the different controllable weights600,600′,600″ in a housing.(6) In various embodiments, one or more of the linear motors500,500′,500″ and controllable weight units600,600′,600″ may include a plurality of different weight inserts.(7) In embodiments, one or more of the linear motors500,500′,500″ and controllable weight units600,600′,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,FIG.69shows a simulated firearm embodiment that includes linear motor500. 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.

FIG.70shows a transparent view of the simulated firearm embodiment shown inFIG.69with linear motor500and sliding mass600exposed as well as mechanical stop800. As shown, mechanical stop800is visible towards the back of the simulated firearm body and is a multicomponent stop made from polypropylene and a rubber bumper. The polypropylene or other available plastics allow the slider to quickly impart energy without damaging sliding mass600. 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 stop800, applies to all mechanical stops herein.

FIGS.71and72show side views of an additional virtual reality gaming peripheral. This peripheral utilizes the same type of multicomponent mechanical stop800as 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 motor500, sliding mass600, mechanical stop800, 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 user5with 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 user5.

FIGS.73and74show a common chair used to illustrate two positions for linear motor500to produce recoil, shock, vibrations, force feedback, etc. for user5. In the typical chair, user5is interfaced with the back of the chair and bottom of the chair that supports weight of user5. By varying the linear motor as described herein, user5may experience force feedback and recoil effects that would not normally be available to him during game-play or training simulation.

FIG.75shows 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 user5as it relates to what user5is 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 motor500, sliding mass600, mechanical stop800, 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.

FIG.76shows an embodiment of the linear motors attached in different orientations to produce different effects (force vectors) to user5.

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 body20may also be evident when using the detachable section as a drop in replacement to a real weapons system for simulation training. For instance, referring toFIGS.2and3,FIG.2is a complete assembly of a firearm andFIG.3is the upper assembly ofFIG.2. In FIG.3, the motor is housed in upper assembly120allowing it to be mated with lower assembly140. Upper assembly120, including the linear motor system, may be used as a drop in replacement of a real firearm for simulations training. Upper assembly120, as shown and described previously, includes the laser assembly for target painting and the necessary feature set to emulate a real weapon. Upper assembly120may also include the controller and power unit to direct the motion of linear motor500for 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.

FIGS.77and78show 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 simulator20or a real firearm as a drop in kit may also vary following the requirements of the attachment point from body20or from the real firearm that typical butt stocks attach.

For reference to the attaching portion of the butt stock, threaded buffer tube230is visible inFIG.79. The attachment point in the previous two figures may thus be modified to attach to the point of body20or 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

FIG.80shows a linear motor500housed inside a hollow cylinder (shock stick) along with sliding mass600and two multipart mechanical stops on the left and right side of sliding mass600. The multipart (multicomponent) mechanical stops800are described herein. As shown inFIG.80, linear Motor500is offset to the left side of the shock stick. User5may hold the shock stick as shown inFIG.81. The offset accounts for center of gravity effects so that user5may effectively hold the shock 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 stops800may be substantially the same.

In one embodiment, mechanical stops800may 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 motor500may 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 motor500, sliding mass600, mechanical stop800, 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 user5via 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.

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 user5via the same mechanism described herein.

In one embodiment, the shock stick's sliding mass600may be composed of a plurality of different types of magnets (neodymium, ceramic, etc.).

In embodiments, the shock stick's sliding mass600may 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 mass600may 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.

FIG.82shows user5holding 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 inFIG.82and 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.

FIG.81shows a user5holding the shock stick shown inFIG.80. User5may 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 user5is wearing the HMD, visual reality of user5is being altered. When user5looks 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 user5physically holds the shock stick) feels substantially similar to the grip on a tennis racket, then user5may 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 user5with 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.

FIG.83shows 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 inFIG.83, the forward grip to the left and the back grip to the right are examples of grips that may conform to tricking user5into 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

FIG.55is a perspective view of a linear motor500and sliding mass/rod600combination. In various embodiments, linear motor500may be programmed to cause sliding rod/mass600to move kinematically in a predefined controlled manner to produce various different predefined standing or resonant frequencies of sliding rod/mass600for imposing/creating predefined force, acceleration, velocity, location of center of gravity of sliding rod/mass600, 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.

FIG.56shows a standing or resonating wave form5000with a changing property such as amplitude5010.FIG.57shows various transient wave form6000with different properties of amplitude6010and period6030.

FIG.58shows various types of standing or resonating waveforms forms5000(sinusoidal),5000′ (step or rectangular),5000″ (triangular), and5000″' (sawtooth) with constant wave form properties of amplitude5010, wave length5020and period5030. 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 motor500may switch between producing the type or kind of standing or resonant wave form. In embodiments, linear motor500controlling sliding mass/rod600may 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 motor500may 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 motor500may 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 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 motor500may be programmed to produce one or more transient vibrations in force, acceleration, velocity, location of center of gravity of sliding rod/mass600, momentum, and/or impulse which are superimposed over standing resonant frequencies in force, acceleration, velocity, location of center of gravity of sliding rod/mass600, momentum, and impulse being produced by linear motor500. 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.

FIG.59shows various types of standing or resonating waveforms (sinusoidal),5000′ (step or rectangular),5000″ (triangular), and5000″′ (sawtooth) with constant10wave form properties but with superimposed transient wave forms6000with possible changing wave form properties.

For sinusoidal resonant or standing waveform5000produced by linear motor500, linear motor may also be programmed to produce various transient wave forms such as wave forms6000,6100,6200,6300, and6400. In embodiments, the properties (e.g., amplitude, period, and wavelength, along with time gap between transient wave forms) of each transient wave form6000,6100,6200,6300, and6400may be substantially the same as the other produced transient wave forms. 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 form6000,6100,6200,6300, and6400may 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, amplitude6010may be that same as amplitude6110,6210, and/or6310. As another example, period6020may be the same as periods6120,6220, and/or6320. In another example, wavelength6030may be the same as wavelengths6130,6230, and/or6330. In yet another example, time gap6040may be the same as time gaps6140,6240, and/or6340. Similar examples for the transient wave forms may be provided for superimposing on standing or resonating wave forms5000′,5000″, and5000″.

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 form6000,6100,6200,6300, and6400may 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, amplitude6010may be different from amplitude6110,6210, and/or6310. As an example, period6020may be different from periods6120,6220, and/or6320. In another example, wavelength6030may be different from wavelengths6130,6230, and/or6330. In yet another example, time gap6040may be different from time gaps6140,6240, and/or6340. Similar examples for the transient wave forms may be given for superimposing on standing or resonating wave forms5000′,5000″, and5000″′.

In various embodiments, linear motor500may 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 motor500may 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 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 motor500controlling sliding mass/rod600may 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 motor500controlling sliding mass/rod600may 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 motor500controlling sliding mass/rod600may 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 particular superimposed transient frequency produced by linear motor500controlling sliding mass/rod600may be varied between different superimposed transient frequencies on the same standing resonant frequency created by linear motor500.

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.