Haptic system for a firearm simulator

Abstract

A haptic effect system for generating haptic effects includes components that are configured to be mounted to an actual firearm. Elements of the haptic effect system are configured to occupy at least a part of the space that would otherwise be occupied by elements of the actual firearm. The haptic effect system converts an actual firearm capable of firing live ammunition into a firearm simulator. The haptic effect system generates haptic effects that cause a user holding the firearm to feel forces that mimic or simulate what a user would feel when performing various actions with the firearm.

Description

HAPTIC SYSTEM FOR A FIREARM SIMULATORThis application is a continuation-in-part of U.S. Application No. 18 / 581 ,658, filed February 20, 2024, which is itself a continuation-in-part of U.S.Application No. 17 / 824,747, filed May 25, 2022. This application also claims priority to the December 2, 2024 filing date of U.S. Provisional Patent Application No. 63 / 727,070. The contents of all three of the above-listed applications are incorporated herein by reference.BACKGROUND OF THE INVENTION

[0001] The invention is related to firearm simulators, and more specifically, to a haptic effect system that can be easily installed on an actual firearm to convert the firearm to a firearm simulator. Elements of the haptic effect system are configured to be installed within an actual firearm and to occupy at least a part of the space that would otherwise be occupied by elements of the actual firearm. The haptic effect system is configured to generate haptic effects that cause a user holding the firearm incorporating the haptic effect system to feel forces that mimic or simulate what a user would feel when performing various actions with an actual firearm in its original configuration. The haptic effect system can cause a user to feel forces that simulate what a user would feel when cocking the firearm, pulling a trigger of the firearm and / or shooting the actual firearm. The haptic effect system can also be easily uninstalled, and any removed parts can be reinstalled, to restore the actual firearm back to its original functionality.BRIEF DESCRIPTION OF THE DRAWINGS

[0002] Figure 1 is a diagram of elements that can make up a haptic effect system configured to be mounted on a firearm;

[0003] Figure 2A is a diagram of a M240 firearm mounted on a bipod;

[0004] Figure 2B is a diagram of a M240 firearm mounted on a tripod;

[0005] Figure 2C is a diagram of a M240 firearm mounted on a bipod with a side-mounted ammunition can;

[0006] Figure 2D is a diagram of a M240 firearm mounted on a bipod with a bottom -mounted ammunition can;

[0007] Figure 3 is an exploded view of parts of a M240 firearm;

[0008] Figure 4 is a perspective view of a haptic effect system configured to me mounted within the main body of a M240 firearm;

[0009] Figure 5 is a partially transparent perspective view of the haptic effect system of Figure 4;

[0010] Figure 6 is another perspective view of the haptic effect system of Figure 4;

[0011] Figure 7 is an enlarged perspective view of a portion of the haptic effect system of Figure 4;

[0012] Figure 8 is an enlarged perspective view of a portion of the haptic effect system of Figure 4;

[0013] Figure 9 is an enlarged perspective view of a portion of the haptic effect system when mounted within the main body of a M240 firearm; and

[0014] Figure 10 is a perspective view showing the underside of a part of simulated ammunition configured to mount to the haptic effect system of Figure 4.DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0015] The disclosed technology was developed with government support under Contract No. W900KK2290018 P00005 awarded by the United States Army. The government may have some rights in the disclosed technology.

[0016] The following detailed description of preferred embodiments refers to the accompanying drawings, which illustrate specific embodiments of the invention. Other embodiments having different structures and operations do not depart from the scope of the present invention.

[0017] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and / or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0018] The disclosed technology is used to convert an actual firearm into a firearm simulator. To make the conversion, some elements of the actual firearm are removed, and elements of a haptic effect system are installed in locations that were previously occupied by the removed elements of the actual firearm. Often the elements of the actual firearm that are removed are hidden or internal elements. As a result, in many cases the firearm retains its overall appearance and feel. This contributes to realism when the converted firearm simulator is used in training exercises.

[0019] Of course, in some instances the elements of the haptic effect system may be installed on the firearm at locations that were not previously occupied by a removed element of the actual firearm. Also, an element of thehaptic effect system installed on the firearm may be visible to the user. In such cases, the installation of one or more elements of the haptic effect system in or on the actual firearm may alter the look and feel of the firearm.

[0020] Certain elements of the haptic effect system are designed to cause the firearm to provide tactile feedback that closely simulates what a user would feel when conducting regular operations with the actual firearm. This can include providing tactile or haptic feedback when a user cocks the converted firearm simulator in preparation for firing, when the user actuates a trigger mechanism of the converted firearm simulator, or when the user “fires” the converted firearm simulator. For example, the haptic effect generated when the user “fires” the converted firearm simulator would be designed to mimic the recoil that a user would feel upon firing the actual firearm. The haptic effect could be selectively varied to simulate various different recoil forces that a user would experience upon firing different types of ammunition with the actual firearm.

[0021] The haptic effects can simulate single fire, semiautomatic, fully automatic or burst fire modes, as well as non-traditional firing modes. Haptic effects can also simulate what a user might feel upon firing the last available round of ammunition, or what a user might feel upon the occurrence of a malfunction, such as a failure to feed, a failure to eject, a runaway condition, or a failure to fire. In all instances, because the user is operating an actual firearm that has been converted into a firearm simulator, the user experiences a high degree of realism during such simulated operations.

[0022] As will be explained in greater detail below, converting an actual firearm into a firearm simulator typically involves replacing some of the elements of the actual firearm with alternate mechanisms that will enable the converted firearm simulator to be used for simulated firing or training. The elements of the actual firearm that are removed can vary depending on thefirearm and / or depending on the firearm simulator equipment that is to be installed.

[0023] For example, in some instances the hammer and trigger mechanism of the actual firearm will remain. As a result, during simulated operations cocking the firearm would still involve loading the firing mechanism such as a hammer or spring against the action of a spring element. Likewise, when the firearm simulator is fired, the user pulls the actual trigger of the firearm and the hammer would fall under the action of the loaded spring. All of these actions contribute to a realistic feel when the firearm simulator is being used. Of course, some installed elements such as a linear motor may provide the recoil force one expects upon firing the firearm simulator. Also, to the extent some forces are not present because no live round of ammunition is being fired, such as the hammer striking an inert firing pin or a firing pin striking an inert, “dummy”, or training round of ammunition, the feel of those actions may also be provided by one or more of the elements that have been installed on the actual firearm to convert the actual firearm into a firearm simulator.

[0024] Also, certain actions such as cocking the firearm may take on alternate meanings depending on how the firearm simulator is configured after it has been converted into a firearm simulator. If elements of the original firing mechanism remain after conversion, such as a charging handle, a spring, a hammer and a firing pin, then “cocking” the firearm simulator can involve causing all of those original elements to perform their normal actions as when the firearm simulator is cocked. However, if some of the original elements of the actual firearm that are involved in cocking the firearm are removed and replaced with other elements during conversion, then “cocking” the firearm simulator may involve the actions of those added items. For example, pulling a charging handle may not operate against an original spring of the actual firearm. Instead, pulling the charging handle may move an actuator or movable member of an added linear motor, with the linear motor providing forcefeedback designed to simulate what a user would feel when pulling the charging handle of an actual firearm.

[0025] Before explaining how an actual firearm can be converted into a firearm simulator, we first provide an overview of typical elements of a haptic effect system which can be used to convert an actual firearm into a firearm simulator. The following description discusses typical elements of a haptic effect system. However, the following description is in no way intended to be limiting. Haptic effect systems with elements in addition to those discussed below are possible. Also haptic effect systems having fewer than all of the items discussed below are possible, and likely would be quite common.

[0026] Figure 1 illustrates typical elements of a haptic effect system 100 that can be installed on an actual firearm to convert the actual firearm into a firearm simulator. One of the key items is a haptic effect generator 102 that generates haptic effects. The haptic effect generator 102 could include one or more linear motors, eccentric weight vibrators, regular rotational electric motors, voice coils, solenoids, piezoelectric actuators, ultrasonic actuators and / or pneumatic or hydraulic actuators. The haptic effect generator 102 could include mixtures of those elements that are selected for the particular haptic effects they can provide. For example, an embodiment of a haptic effect generator 102 could include both a linear motor and a piezoelectric actuator, which together are capable of delivering various combinations of haptic effects.

[0027] In some embodiments, two or more linear motors could be included in the haptic effect generator 102, with the axes of the two linear motors oriented in different directions. By selectively actuating only one of the linear motors, or both of the linear motors, such a haptic effect generator 102 could generate haptic effects that simulate multiple different actions and produce forces that act in multiple directions or axes.

[0028] U.S. Patent Application No. 14 / 951 ,961 , filed November 25, 2015, which issued as U.S. Patent No. 10,852,093 on December 1 , 2020, disclosestechnical details about how a linear motor can be configured and controlled to generate haptic effects that simulate the recoil forces that occur when a user fires an actual firearm. The disclosure of U.S. Patent Application No. 14 / 951 ,961 is incorporated herein by reference in its entirety.

[0029] The physical form and dimensions of the haptic effect generator 102 can be varied to enable the haptic effect generator 102 to be mounted within various different actual firearms. In some instances, such as where the haptic effect generator 102 is to be mounted inside a relatively large rifle, a haptic effect generator 102 with relatively large dimensions could be employed. In other instances, such as where the haptic effect generator 102 is to be installed within a relatively small handgun, the haptic effect generator 102 could have very small dimensions.

[0030] The haptic effect that is provided by the haptic effect generator 102 could also take many different forms. One of the primary uses of the haptic effect generator 102 is to simulate the recoil that a user will feel upon firing a firearm. This can include a single recoil associated with single shot fire, and multiple successive recoils associated with burst firing mode, or automatic fire.

[0031] Because a converted firearm simulator can be used in training, it also may be advantageous to have the haptic effect generator 102 simulate the feel of various malfunctions. Thus, a haptic effect generator 102 may generate a haptic effect to simulate the feel of a failure to fire or what it might feel like to fire a round of partially defective ammunition where the full recoil effect is not achieved. The haptic effect generator 102 might also simulate the feel of a jam or a failure to load a new round of ammunition from a magazine, or instances where a casing of spent ammunition jams during ejection from the firearm. Thus, the haptic effect generator 102 may be controlled to produce haptic effects that simulate a variety of different malfunctions.

[0032] The haptic effect generator 102 might also generate haptic effects that are not possible with an actual firearm, but which are interesting or usefulfor training purposes. As but one example, if a haptic generator 102 is coupled to a trigger mechanism of a converted firearm simulator, the haptic effect generator 102 could cause the user to feel a particular haptic effect that varies as the user applies greater and greater force to the trigger mechanism. For example, the trigger could vibrate, and the frequency and / or amplitude of vibration could steadily increase as the user applies greater and greater force to the trigger. Or, perhaps the opposite, where the frequency and / or amplitude of vibration starts out high and steadily decreases as more and more force is applied to the trigger until the vibration ceases just as the user applies sufficient force to the trigger to cause the firearm simulator to “fire.” Such haptic effects could be useful in training a user as to how much pressure need be applied to cause the firearm to fire.

[0033] Similarly, the haptic effect generator 102 could be configured such that it requires the user to apply varying amounts of pressure to a trigger to cause the firearm simulator to fire. This would allow a user to experience different trigger pull weights, and possibly allow a user to identify or choose a trigger pull weight that is desirable to the user.

[0034] The haptic effect generator 102 may also be under the control of a trainer, who causes the haptic effect generator 102 to selectively vary one or more haptic effects that the user experiences as part of an overall training program. The trainer could be a human or a software-based trainer. In some situations, the trainer could be a computer or software assisted human trainer. In any event, the trainer could cause a wireless signal to be sent to the haptic effect generator 102 at a selected time during training to cause the converted firearm simulator to exhibit a malfunction condition. This would allow the trainer to choose when a malfunction occurs, which also would allow the trainer to carefully observe how a user deals with the malfunction condition.

[0035] Thus far, we have discussed haptic effects relating to firing the firearm. However, a haptic effect generator 102 could be used in a variety ofother contexts. For example, a haptic effect generator 102 such as a linear motor could be operatively coupled to a cocking mechanism of an actual firearm and the haptic effect generator could generate haptic effects relating to cocking the firearm. The haptic effect generator 102 coupled to the cocking mechanism of the firearm could be the same haptic effect generator 102 that provides recoil haptic effects, or a completely separate haptic effect generator 102 could be operatively coupled to the cocking mechanism of the firearm. Regardless, the haptic effect generator 102 could be controlled to provide a certain degree of force that resists movement of the cocking mechanism as the user actuates the cocking mechanism to prepare the firearm to be fired. The amount of force that the haptic effect generator 102 applies to the cocking mechanism could vary over the regular full course of movement of the cocking mechanism to simulate what a user would typically feel when cocking the actual firearm.

[0036] Also, here again, various malfunctions could be simulated. For example, the haptic effect generator 102 could be configured to apply forces to the cocking mechanism to simulate what a user would feel when there is a jam during the cocking movement. Also, if the ammunition magazine is empty when a user pulls on a cocking lever of a firearm to prepare the firearm for firing, there would be a different feel than what would occur when cocking the firearm loads a new round of ammunition into the firing position. Thus, the haptic effect generator 102 could apply forces to the cocking mechanism to simulate what it would feel like to cock the firearm without any ammunition in the firearm. This too would help a new user to understand what it feels like under various different operational conditions.

[0037] The haptic effect generator 102 could also simulate a variety of other actions of a firearm. For example, the haptic effect generator could generate forces that simulate what a user feels when a slide of semiautomatic handgun is released from the locked open position after loading a new magazine of ammunition into the firearm and when a new round of ammunition is loaded into the firing chamber. Similarly, in the case of a semiautomaticshotgun, the haptic effect generator 102 could generate forces that simulate what a user feels when the action is released after manually loading a new cartridge into the shotgun as the cartridge is moved into the firing chamber.

[0038] As mentioned above, the same haptic effect generator 102 that provides a recoil haptic effect also may be operationally coupled to a cocking mechanism of the firearm such that the haptic effect generator 102 can apply forces to the cocking mechanism. However, in alternate embodiments there may be a separate cocking simulator 104 that is operationally coupled to the cocking mechanism of the firearm. The cocking simulator 104 also may employ one or more linear motors, eccentric weight vibrators, regular rotational electric motors, piezoelectric actuators, voice coils, solenoids, ultrasonic actuators and / or pneumatic or hydraulic actuators. In some firearms, it may be necessary to provide a separate cocking simulator 104 to apply forces to the cocking mechanism of the firearm as a haptic effect generator 102 that provides appropriate recoil forces may be unable to interact with the cocking mechanism of the firearm. Such a separate cocking simulator 104 would be capable of providing all the forces detailed above to provide to the user the feel of cocking the firearm under regular and malfunction conditions.

[0039] A cocking simulator 104 could apply forces to a cocking mechanism of a firearm according to a force vs. displacement profile. The cocking mechanism 104 could also generate and apply forces to the cocking mechanism of the firearm to simulate what a user would feel when moving the cocking mechanism to an open and locked position. For example, the cocking simulator could provide forces so that a user experiences what it feels like to move the action of a semiautomatic shotgun to the open and locked position, which allows a new cartridge to be inserted into the shotgun.

[0040] Both the haptic effect generator 102 and a cocking simulator 104, if provided, would receive control signals from a controller 106 of the haptic effect system 100. The controller 106 could be integrated into the samephysical elements as the haptic effect generator 102 and / or the cocking simulator 104. Alternatively, the controller 106 could be a separate physical element that is mounted on or within the firearm. When the controller 106 is separate from other elements of the haptic effects system 100, the controller 106 could communicate with the other elements via a wired or wireless connection. For example, typical wireless Bluetooth connections could be established between the controller 106 and one or more other elements of the haptic effect system 100. The controller 106 could both receive signals from the other elements and provide control signals to the other elements.

[0041] In still other instances, the controller 106 might be located apart from the body of the firearm. In that instance, the controller 106 could communicate with elements of the haptic effect system 100 mounted on the firearm via a wired or wireless connection.

[0042] The haptic effect system 100 also includes a trigger interface 108. The trigger interface could take many different forms, depending on the configuration of the firearm itself. At its core, the trigger interface 108 is designed to determine when a user actuates the trigger mechanism of the firearm. The trigger interface 108 sends a trigger signal to the controller 106 when the trigger interface 108 determines that the user has actuated the trigger mechanism of the firearm.

[0043] The firearm itself may be capable of operating under multiple firing modes. Often an actual firearm will have firing modes that include safe, single shot or semiautomatic, burst and fully automatic. A firearm simulator incorporating a haptic effect system 100 may be configured to simulate some or all of those firing modes. In some instances, a selector switch on the firearm will determine the firing mode under which the firearm is operating. In instances when the firearm is capable of operating in a fully automatic firing mode, the trigger interface 108 is capable of generating and sending signals to thecontroller 106 to indicate that the user is holding the trigger down to cause fully automatic fire.

[0044] The trigger interface 108 may also apply a force to the firing mechanism of the firearm that helps to simulate what a user would feel when pulling the trigger of the firearm. The trigger interface 108 may include a device such as one or more linear motors, eccentric weight vibrators, regular rotational electric motors, piezoelectric actuators, voice coils, solenoids, ultrasonic actuators and / or pneumatic or hydraulic actuators. The force or forces applied to the trigger mechanism by the trigger interface 108 could vary the trigger pull to allow users to experience different trigger pull weights. Also, the trigger interface 108 could apply a force to the trigger mechanism that varies over the length of trigger travel to closely simulate what a user would feel as trigger of the firearm is pulled. A force vs. travel profile could be used to determine what force the trigger interface 108 applies to the trigger mechanism as the trigger moves through the full range of travel.

[0045] The trigger interface 108 could apply different forces to the trigger mechanism depending on the operational condition of the firearm. For example, one type of force could be applied to the trigger mechanism during a normal firing operation, whereas another force could be applied to the trigger mechanism when a user actuates the trigger mechanism when the firearm has already expended all available ammunition.

[0046] In some instances, a trigger interface 108 is designed to interface with the existing trigger mechanism of the firearm. In other instances, one of the original parts of the firearm that are replaced when the firearm is converted into a firearm simulator may include the trigger mechanism. In other words, the trigger interface 108 could include an entirely new trigger and trigger mechanism that replaces the original trigger and / or trigger mechanism of the firearm. A trigger interface 108 that includes a replacement trigger and / or trigger mechanism could also include an actuator that provides a force to theuser’s finger when the user is actuating the trigger to simulate what a user would typically feel when actuating the trigger mechanism.

[0047] The haptic effect system 100 also includes a power source 110 that provides power to other elements of the system. The power source 110 could include batteries, capacitors, super-capacitors and other energy storage devices that can be used to provide electrical power to other elements of the haptic effect system 100. In some instances, the power source 110 could be coupled to a continuous source of electrical power, as opposed to using an energy storage device.

[0048] In some embodiments, the power source 110 may be integrated into another element of the haptic effect system 100, such as being a part of a controller module 106. In other instances, the power source 110 may be a separate element that is mounted to or within the firearm. In some embodiments, the power source 110 may take the form of a replaceable unit that can be removed from the firearm for re-charging, and which can then remount to the firearm. For example, the power source 110 could be configured to resemble an ammunition magazine that can be swapped out just like a regular ammunition magazine of the firearm. In some embodiments, the power source 110 could be external to the firearm simulator. For example, the power source 110 could be an external stationary power source or a user-wearable power source that is wired to the firearm simulator.

[0049] In instances where the power source 110 is mounted to the firearm, the power source 110 could be attached to external power for re-charging via an electrical charging cord. Alternatively, the power source 110 may have a built-in inductive charging port that need only be brought adjacent a corresponding inductive charging unit.

[0050] The power source 110 may be hard wired to other elements of the haptic effect system 100 to provide electrical power to those elements. Alternatively, the power source 110 may provide electrical power to otherelements of the haptic effect system 100 via an inductive link. In the future, other means of delivering electrical power to the elements of the haptic effect system 100 or to the power source 110 may be possible, such as RF energy harvesting.

[0051] In some embodiments, such as where a replaceable unit like an ammunition magazine contains the main power source 110, a secondary power source may also be provided. The secondary power source could power the controller 106 and possibly other elements of the overall haptic effect system while a main replaceable power source 110 is removed from, recharged and then remounted to the firearm simulator. This would ensure that data currently being stored by one or more elements of the haptic effect system 100 can be retained while the main power source 110 is replaced or recharged.

[0052] The haptic effect system 100 can include one or more sensors 112 that are configured to sense various things and to provide information about sensed conditions to the controller 106 or to other elements of the haptic effect system 100. The information gathered by the one or more sensors 112 is then used to help control other elements of the haptic effect system 100 to provide the user with a useful and immersive experience.

[0053] In some instances, the sensors 112 of the haptic effect system 100 could sense the positions of various controls of the firearm. For example, a sensor 112 could detect the position of a fire control switch that is used to switch between safe, single fire or semiautomatic, burst and fully automatic firing modes. Information from the sensor 112 is sent to the controller 106 and the controller then controls the other elements of the haptic effect system to provide firing in the mode currently selected by the fire control switch.

[0054] As another example, one or more sensors 112 could be used to detect a position of a trigger mechanism of the firearm. Information from that sensor 112 is sent to the controller 106, which uses the information to determinewhen the user is actuating the trigger mechanism, and thus when to simulate firing the firearm.

[0055] A sensor 112 could detect when a magazine is properly mounted to the firearm. If such a sensor reports to the controller 106 that a magazine has been improperly mounted to the firearm, the controller could cause a malfunction condition to be performed. One or more sensors 112 could also detect the presence of one or more accessories mounted on the firearm simulator, such as a scope, an auxiliary lighting device, a grenade launcher, etc. Information about the configuration of the firearm simulator, as collected via the sensors 112, could be used to help control operations of the haptic effect system 100.

[0056] The sensors 112 could also include a variety of inertial and motion sensors that are configured to detect the current orientation of the firearm and when and how the user is moving the firearm. Such information could be reported to the controller 106, and / or to a gaming or simulation system that is completely separate from the firearm. The gaming or simulation system could use information reported from inertial and motion sensors 112 to help generate an augmented or virtual reality view that is then displayed to the user of the firearm.

[0057] The foregoing lists contain but a few of the many different types of sensors 112 that could be a part of a haptic effect system 100. Many other different types of sensors could also be used for various other purposes. Such sensors could communicate with the controller 106 or with elements completely separate from the haptic effect system 100 via a wired or wireless connection.

[0058] The haptic effect system 100 further includes a user interface 114. The user interface 114 can be used to show or display certain items of information to the user. Such information can include, for example, a number of shots fired or the amount of ammunition remaining in a magazine. Such information can also include current settings or configuration details, such asthe currently selected firing mode. This type of information could be displayed to a user via a small display screen or one or more indicator lights that are part of the user interface 114. Such a display or such indicator lights could be mounted to a convenient part of the firearm so that they can be easily seen by the user when holding the firearm in a normal manner.

[0059] The user interface 114 also provides a mechanism for receiving user input. Thus, the user interface could utilize a variety of different devices for receiving input from a user. In simple examples, the user interface 114 could include buttons or controls mounted on the firearm that allow a user to provide direct manual input. In some embodiments, a touch sensitive screen that is part of the user interface 114 could be used to both display information to the user and also receive input from the user via a graphical user interface. In some instances, the user interface also could include a microphone that receives spoken input from the user. The user interface 114 would then interpret the spoken input via speech recognition techniques. In other instances, the user interface could also contain one or more connected cameras that enable gesture recognition or user identification.

[0060] In other embodiments, the user interface 114 could include a software program that runs on a computing device, such as a desktop or laptop computer, a tablet or smartphone. The software application on the computing device can make use of communication capabilities of the computing device to communication with the controller 106 either wirelessly or via a wired connection. Thus, the software application could enable a user to vary settings of the haptic system. The software application could also receive recorded information from the controller 106 regarding past operations of the haptic system.

[0061] The input that a user provides via the user interface 114 could include specifying a type of ammunition that the haptic effect generator 102 is to simulate firing. The user input could also indicate the type and relatedcharacteristics such as size of an ammunition magazine that the firearm is to presume is present, which, for example, will dictate the number of rounds of ammunition that can be shot before reloading. The user input might also specify the trigger pull force that is to be provided by the trigger interface 108, or possibly specify a force vs. trigger pull distance profile that is to be used by the trigger interface 108.

[0062] The user interface might also be used to input things like how often the firearm is to simulate a malfunction, and the types of malfunctions that are to be simulated. This sort of input could be provided by a training instructor before passing the firearm simulator over to a student that is to use the firearm simulator as part of a training exercise.

[0063] A completely separate trainer / user interface 120 might also be capable of communicating with the controller 106 or other elements of the haptic effect system 100 via a wired or wireless connection. When the separate interface is a trainer interface 120, a trainer could use the trainer interface 120 to communicate all the above-listed items of information to the controller 106. Likewise, the trainer interface 120 could receive all the above-listed items of information from the controller 106. The trainer interface 120 could also communicate a variety of other items of information and control signals with the controller. For example, a trainer could use the trainer interface 120 to send control signals to the controller 106 that indicate when a haptic effect generator 102 or other elements of the haptic effect system 100 are to simulate a malfunction of some kind.

[0064] The separate trainer / user interface 120 could be capable of communicating with multiple haptic effect systems 100 mounted on multiple firearm simulators to thereby control a training exercise involving multiple firearm simulators. In the same fashion, a single external trainer / user interface 120 could receive data from multiple firearm simulators and correlate, manipulate or process that data. The external trainer / user interface 120 couldthen present raw, correlated or processed data, generate reports and otherwise provide various useful functionality to a trainer. When a single external trainer / user interface 120 is receiving reporting signals from multiple firearm simulators as part of a group training exercise, the external trainer / user interface 120 could provide a single consolidated display that summarizes the performance and status of all users in the training exercise.

[0065] The external trainer / user interface 120 could be a purpose-built device, or it could be configured as a software application running on a computing device such as a laptop computer or a smartphone. In some instances, the external trainer / user interface 120 could be incorporated into another firearm simulator, such as where a trainer has a master firearm simulator that controls one or more slave firearm simulators. The external trainer / user interface 120 could be located at the same premises as a firearm simulator that is communicating with the external trainer / user interface 120, or the external trainer / user interface 120 could be remote or cloud-based in nature.

[0066] The haptic effect system 100 may also include an ammunition simulator 116 that is designed to determine when a user fires the firearm. The ammunition simulator 116 is designed to be positioned where a round of ammunition would be located just prior to firing the firearm. The ammunition simulator 116 could include a sensor that is capable of detecting when a firing pin of the firearm contacts the back of the ammunition simulator 116. When the sensor registers a hit from the firing pin, the ammunition simulator 116 sends a firing signal to the controller 106, and the controller then causes a haptic effect generator 102 to generate a haptic effect that simulates firing of the firearm.

[0067] As an example, the ammunition simulator 116 could be configured as a shotgun shell that is inserted into a shotgun just before the shotgun is fired. When the user actuates the trigger mechanism and causes a firing pin of the shotgun to impact the back of the ammunition simulator 116, the ammunitionsimulator 116 sends a firing signal to the controller 106. The controller 106 then causes the haptic effect generator 102 to create a recoil effect to simulate firing of the shotgun. When an ammunition simulator 116 is used in this fashion, all of the mechanisms in the shotgun relating to firing the shotgun can be retained in their original condition to provide a very realistic firing effect for the user.

[0068] The haptic effect system 100 could further include a laser unit 118 that emits laser light. The laser unit 118 could be mounted in the firearm such that laser light is emitted down the barrel of the firearm towards whatever the firearm is pointed at. The laser light could be used both to aim the firearm, and also to hit laser detectors that register hits when the firearm is fired. Additionally, the laser could be mounted on the exterior of the firearm and aligned with the barrel to aim the firearm, and also to hit laser detectors that register hits when the firearm is fired.

[0069] The laser unit 118 could communicate with the controller 106 via a wired or wireless link. If the laser light emitted from the laser unit is designed to help aim the firearm, then the laser unit 118 may be caused to emit laser light when the user pushes a separate aiming switch or when the trigger interface 108 indicates that the user has partially depressed the trigger of the firearm.

[0070] Alternatively, the laser unit 118 could be caused to emit laser light only when the user actuates the trigger of the firearm to take a shot. At that point, one or more detectors within a targeted area could sense the laser light emitted by the laser unit 118 to register a hit.

[0071] With the foregoing as background, we will now turn to an example of how elements of a haptic effect system 200 can be installed on an actual firearm to convert the firearm to a firearm simulator. For this example, the actual firearm will be an M240 firearm, such as the one depicted in Figures 2A- 2D and 3.

[0072] As illustrated in Figures 2A-2D, the M240 firearm 100 includes a barrel 132, a main body or receiver 134, a trigger assembly 136 and a buttstock 138. The embodiments illustrated in Figure 2A, 2C and 2D are mounted to a bipod 146. The embodiment illustrated in Figure 2B is mounted to a tripod 141 .

[0073] As shown in Figure 2C, in some embodiments, an ammunition can 150 can be mounted to a side of the firearm, with a belt of ammunition 155 being fed from the ammunition can 150 into the firearm. In an alternate configuration, as shown in Figure 2D, an ammunition can 160 could be mounted under the firearm, with a belt of ammunition 165 being fed from the ammunition can 160 in the firearm.

[0074] Figure 3 shows the M240 firearm 130 partially disassembled. The buttstock 138 is mounted to the main body or receiver 134 by sliding rails on the forward end of the buttstock 138 into corresponding grooves on the rearward end of the main body or receiver 134. Similarly, the buttstock 138 can be detached from the main body or receiver by sliding the buttstock 138 upward along the grooves in the rear end of the main body 134. Once the buttstock 138 has been removed, one can remove the piston and slide assembly 146 and the return spring 148 from the interior of the main body or receiver 134.

[0075] A removable cover plate 142 is mounted on the top of the main body or receiver 134. The cover would be opened to mount a belt of ammunition into a feed assembly on the top of the main body 134. The cover 142 would then be moved down into a closed and locked position.

[0076] Figures 4-6 illustrate a haptic effect system 200 that is configured to be mounted to the main body or receiver 134 of the M240 firearm. The haptic effect system 200 includes a main body 202 that slides into the interior of the main body or receiver 134 of the M240 firearm. Of course, one would first have to remove the slide assembly 116 and return spring 118 from the main body before inserting the main body 202 of the haptic effect system 200 into the main body 134 of the M240 firearm.

[0077] As illustrated in Figures 4-6, the haptic effect system 200 includes an integrated buttstock 204 that replaces the original buttstock 108 of the M240 firearm. Thus, once the haptic effect system 200 in mounted in the main body of the M240 firearm, the slide assembly 116, return spring 118 and buttstock 108 remain separate and are not used.

[0078] The haptic effect system 200 is secured to the main body or receiver 134 of the M240 firearm by an adaptor fork 240, which includes two legs 242 that slide into the grooves at the rear of the main body 134 which normally receive the grooves on the original buttstock 108 of the M240 firearm. The outer edges of the legs 242 of the adaptor fork 240 slide into the grooves of the main body 134 of the M240 firearm 100. The inner edges of the legs 242 slide into corresponding grooves on the haptic effect system 100 located between the main body 202 and the buttstock 204.

[0079] A linear motor 210 having a sliding mass is mounted in the main body of the haptic effect system 200. The sliding mass of the linear motor 210 is attached to a sliding arm 220, which has an arcuate shaped depression 222 on its forward end. Elements of the charging handle mechanism of the M240 firearm are operatively coupled to the sliding arm 220 attached to the sliding mass of the linear motor 210.

[0080] In one embodiment, a pin attached to the charging handle of the M240 firearm bears against the arcuate shaped depression 222 on the end of the sliding arm 220. As a result, when a user pulls back the charging handle, the sliding arm 220 and the sliding mass of the linear motor 210 are moved rearward. The linear motor 210 can generate resistance to that rearward movement to simulate the forces that a user would feel when pulling back the charging handle to load a new round of ammunition in the firing chamber. When the user releases the charging handle, the sliding mass of the linear motor 210 pushes the sliding arm 220 and thus the charging handle of the M240 firearm forward so that the charging handle is returned to its at-rest position.

[0081] As shown in Figures 7 and 8, a time-of-flight sensor 260 is mounted on the top of the haptic effect system 200. As mentioned above, the M240 firearm includes a hinged cover 142 that is lifted by the user so that the user can mount a belt of ammunition into the feed assembly of the firearm. The cover 142 is then closed before preparing the M240 firearm to fire. When the haptic effect system 200 is mounted inside the main body 134 of the M240 firearm, the time-of-flight sensor 260 on the top of the haptic effect system 200 can detect the position and movement of the cover.

[0082] The time-of-flight sensor 260 includes a plurality of radiation emitters that emit radiation upward and outward from the sensor 260. There are also corresponding detectors on the time-of-flight sensor 260 that detect any emitted radiation that is reflected back toward the time-of-flight sensor 260 by elements in the path of the emitted radiation. By noting the time required for a pulse of radiation to be emitted by an emitter and then reflected back to a corresponding detector of the time-of-flight sensor 260, one can determine the distance between the time of flight sensor 260 and anything in the path of the emitted radiation. And because the time-of-flight sensor 260 includes an array of emitters detectors arranged in a two-dimensional array, the time-of-flight sensor 260 can build up a basic three-dimensional model of anything in the path of the emitted radiation.

[0083] Although this embodiment includes a time-of-flight sensor 260 to detect the position and movements of the cover, other sensors could instead be used.

[0084] Various different sensors also could be used to determine when a user actuates the safety and a trigger in the trigger assembly 206. In some embodiments, a time-of-flight sensor 250 may be mounted in the trigger assembly 206 to detect movements and positions of both the safety mechanism and the trigger. When the time-of-flight sensor 250 outputs signals indicating that the user has deactivated the safety and pulled the trigger, a controller ofthe haptic effect system 200 causes the linear motor 210 to generate forces simulating recoil.

[0085] In some embodiments, the data output by the time-of-flight sensors 250, 260 may be reviewed by an artificial intelligence engine or algorithm to determine the locations and movements of elements in the field of view of the sensors. Because the tolerances of the parts of an existing M240 firearm, into which the haptic effect system 200 is installed, can vary significantly from firearm to firearm, the use of hard-mounted sensors or sensors that are expected to return readings within a certain range may not accurately reflect the actual locations and movements of various parts. However, using artificial intelligence capabilities, it is possible to run a quick initialization procedure once the haptic effect system has been installed to determine what combinations of sensor data reflect the accurate positions of various elements. Once the initialization procedures are performed, the data output by the time-of-flight sensors 250, 260 can be accurately used to determine the actual locations and movements of various parts.

[0086] Although this embodiment uses a time-of-flight sensor 250 to detect the positions and movements of the safety mechanism and the trigger, in other embodiments other types of sensors could be used. For example, an embodiment could include simple switches, inductive sensors, a Hall effect sensor, various position sensors, or a CCD optical array, as well as combinations of these elements.

[0087] As mentioned, the M240 firearm is fed a belt of ammunition. Some embodiments of the haptic effect system 100 can include a simulated belt of ammunition that leads to an ammunition can mounted under the barrel of the M240 firearm. The simulated belt of ammunition can include wires that connect a battery or a power supply in the ammunition can to elements of the haptic effect system 200 mounted inside the main body or receiver 134 of the M240 firearm.

[0088] Figures 7 and 8 show that an array of electrical contacts 270 may be provided at the top of the forward end of the main body 202 of the haptic effect system 200. When the haptic effect system 200 is mounted in the main body 204 of the M240 firearm, the array of electrical contacts 270 are located just underneath the feed mechanism that receives a belt of ammunition.

[0089] As illustrated in Figures 9 and 10, a simulated belt of ammunition 300 leading down into a simulated ammunition can mounted to the side or under the main body are configured to interface with the electrical contacts 270 on the haptic effect system 200. As illustrated in Figure 10, corresponding electrical contacts 302 on the underside of one of the simulated rounds of ammunition 300 make contact with the array of electrical contacts 270 when the belt of simulated ammunition is mounted where an actual belt of ammunition would be mounted on a M240 firearm. Electrical wires in the simulated belt of ammunition would connect electrical devices in the simulated ammunition can to the electrical contacts 270 on the top of the main body 202 of the haptic effect system 200.

[0090] The simulated ammunition can might include a power source, processors and / or one or more wireless transceivers that provide power and communications capabilities to the elements of the haptic effect system 200 via the belt of simulated ammunition 300. Electrical wires in the simulated belt of ammunition 300 connect the power source and other elements mounted in the simulated can of ammunition to the elements of the haptic effect system 200 via the array of electrical contacts 302 on the simulated belt of ammunition 300 and the array of electrical contacts 270 on the top of the haptic effect system 200.While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not to be limited to the disclosed embodiment,but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

WHAT IS CLAIMED IS:1 . A haptic effect system configured to be mounted to the frame of an actual firearm to convert the actual firearm into a firearm simulator, comprising: a housing configured to be mounted in a receiver of the actual firearm; a haptic effect generator mounted on the housing, the haptic effect generator being configured to generate a haptic effect that simulates firing live ammunition with the firearm; a sensor mounted on the housing such that when the housing is mounted in the receiver of the firearm, the sensor can generate a signal that is indicative of an operational condition of the firearm; a controller that is operatively coupled to the haptic effect generator and the sensor and that causes the haptic effect generator to generate the haptic effect; and a power source that provides power to the controller, the sensor and the haptic effect generator.

2. The haptic system module of claim 1 , wherein the housing is configured to be mounted inside the main body or receiver of an actual M240 firearm.

3. The haptic effect system of claim 2, wherein the sensor is positioned on the housing such that when the housing is mounted in the receiver of an actual M240 firearm, the sensor can generate a signal that is indicative of the position of a cover of the actual M240 firearm.

4. The haptic effect system of claim 1 , further comprising first array of electrical contacts provided on a top of the housing, wherein the first array of electrical contacts are located on the housing such that when the housing is mounted in a main body of the actual firearm, the first array of electricalcontacts is positioned at or adjacent a location where a belt of ammunition would be mounted to the actual firearm.

5. The haptic effect system of claim 4, further comprising a belt of simulated ammunition that includes a second array of electrical contacts, wherein the belt of simulated ammunition is configured such that when it is loaded on the actual firearm where a belt of actual ammunition would be loaded on the actual firearm, and the housing is mounted inside the main body or receiver of the actual firearm, individual ones of the second array of electrical contacts on the belt of simulated ammunition contact corresponding ones of the first array of electrical contacts on the housing.

6. The haptic effect system of claim 5, further comprising a simulated ammunition can that is configured to be mounted to the main body of the actual firearm, wherein a power source is located in the simulated ammunition can.

7. The haptic effect system of claim 6, wherein electrical wires in the simulated belt of ammunition connect the power source to the second array of electrical contacts such that the power source in the simulated ammunition can supplies electrical power to the controller and haptic effect generator via at least some of electrical contacts in the first and second arrays of electrical contacts.

8. The haptic effect system of claim 1 , wherein the haptic effect generator includes a linear motor with a stator and a sliding mass.

9. The haptic effect system of claim 8, further comprising a sliding arm that is operatively coupled to the sliding mass of the linear motor, wherein the sliding arm is configured such that when the housing is mounted in the main body or receiver of an actual firearm, a charging handle of the actual firearm will contact the sliding arm when a user pulls the charging handle rearward.

10. The haptic effect system of claim 9, wherein the controller is configured to control movements of the sliding mass and the sliding arm such that when a user pulls the charging handle of the actual firearm rearward, the sliding mass of the linear motor will resist the rearward movement of the charging handle such that the user will experience forces that are similar to the forces that a user would experience when conducting a cocking operation of the actual firearm.

11. A haptic effect system configured to be mounted to the frame of an actual firearm to convert the actual firearm into a firearm simulator, comprising: a housing configured to be mounted in a receiver of the actual firearm; a haptic effect generator mounted on the housing, the haptic effect generator including a linear motor having a stator and a sliding mass, the haptic effect generator being configured to generate a haptic effect that simulates firing live ammunition with the firearm; a sliding arm that is slidably mounted on the housing and that is operatively connected to the sliding mass of the linear motor, wherein the sliding arm is configured such that when the housing is mounted in the receiver of an actual firearm, rearward motion of a charging handle of the actual firearm will cause the sliding arm to move rearward; a controller that is operatively coupled to the haptic effect generator and that causes the haptic effect generator to generate a haptic effect that simulates firing a live round of ammunition with the actual firearm; and a power source that provides power to the controller and the haptic effect generator.

12. The haptic effect system of claim 11 , wherein the controller is configured to control the linear motor such that when a user pulls the charging handle of the actual firearm rearward to simulate a cocking or charging action, the sliding mass of the linear motor and the sliding arm will resist rearwardmovement of the charging handle such that the user experiences forces that are similar to the forces that a user would experience when conducting a cocking or charging operation of the actual firearm.

13. The haptic effect system of claim 12, wherein the controller is configured such that when a user releases the charging handle of the actual firearm after moving the charging handle rearward to simulate a cocking or charging operation, the controller causes the sliding mass of the linear motor and the sliding arm to push the charging handle forward to an at-rest position.

14. The haptic effect system of claim 11 , further comprising: a trigger assembly mounted on the housing and that includes a movable trigger; and a sensor mounted in the trigger assembly and operatively connected to the controller, wherein the sensor is configured to output a trigger signal when a user actuates the trigger, and wherein the controller causes the haptic effect generator to generate a haptic effect that simulates firing a live round of ammunition with the actual firearm when the sensor outputs the trigger signal.

15. The haptic effect system of claim 14, wherein the trigger assembly includes a safety switch that is movable between safe and live firing positions, and wherein the sensor also is configured to output a signal that is indicative of the position of the safety switch.

16. The haptic effect system of claim 15, wherein the sensor is a time-of- flight sensor that includes a plurality of radiation emitters and a corresponding plurality of radiation detectors, wherein the plurality of emitters and the plurality of detectors are arranged in a two-dimensional array.

17. The haptic effect system of claim 16, wherein the time of flight sensor is configured and positioned on the trigger assembly such that signals output by a first plurality of the radiation detectors are indicative of a position andmovements of the trigger and wherein signals output by a second plurality of the radiation detectors are indicative of a position of the safety switch.

18. The haptic effect system of claim 11 , further comprising an adaptor fork having first and second legs, wherein the adaptor fork is configured to secure the housing of the haptic effect system to the main body or receiver of the actual firearm.

19. The haptic effect system of claim 11 , wherein the housing is configured to be received in a main body or receiver of an actual M240 firearm, and further comprising an adaptor fork having first and second legs, wherein the first and second legs of the adaptor fork are configured to slide into grooves on the main body or receiver of the actual M240 firearm that are normally used to secure a buttstock to the main body or receiver of the actual M240 firearm in order to secure the housing of the haptic effect system to the main body or receiver of the actual M240 firearm.

20. The haptic effect system of claim 11 , further comprising an array of electrical contacts provided on a top of the housing, wherein the array of electrical contacts are located on the housing such that when the housing is mounted in a main body of the actual firearm, the array of electrical contacts is positioned at or adjacent a location where a belt of ammunition would be mounted to the actual firearm, and wherein at least some of the array of electrical contacts are connected to the controller.

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