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WO2005079352A2 - Rotule d'arme avec systeme d'orientation d'arme integre - Google Patents

Rotule d'arme avec systeme d'orientation d'arme integre Download PDF

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Publication number
WO2005079352A2
WO2005079352A2 PCT/US2005/004566 US2005004566W WO2005079352A2 WO 2005079352 A2 WO2005079352 A2 WO 2005079352A2 US 2005004566 W US2005004566 W US 2005004566W WO 2005079352 A2 WO2005079352 A2 WO 2005079352A2
Authority
WO
WIPO (PCT)
Prior art keywords
weapon
socket
ball
ball element
orientation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2005/004566
Other languages
English (en)
Other versions
WO2005079352A3 (fr
Inventor
William Elliot
James Kilham
Matthew Olson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DARK HORSE ARMING CONSTRUCT LLC
Original Assignee
DARK HORSE ARMING CONSTRUCT LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DARK HORSE ARMING CONSTRUCT LLC filed Critical DARK HORSE ARMING CONSTRUCT LLC
Priority to US12/309,019 priority Critical patent/US20090229160A1/en
Publication of WO2005079352A2 publication Critical patent/WO2005079352A2/fr
Publication of WO2005079352A3 publication Critical patent/WO2005079352A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/02—Mountings without wheels
    • F41A23/04—Unipods
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/02—Mountings without wheels
    • F41A23/18—Rests for supporting smallarms in non-shooting position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41C—SMALLARMS, e.g. PISTOLS, RIFLES; ACCESSORIES THEREFOR
    • F41C23/00—Butts; Butt plates; Stocks
    • F41C23/20—Butts; Butt plates; Mountings therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41C—SMALLARMS, e.g. PISTOLS, RIFLES; ACCESSORIES THEREFOR
    • F41C33/00—Means for wearing or carrying smallarms
    • F41C33/001—Shooting harnesses; Stabilising devices, e.g. straps on the body

Definitions

  • the invention relates generally to systems and method for securing an armament and more particularly to systems and methods for providing an armament with a physical and electrical connection to a ballistic body armor, vehicle, tripod and /or other support structure using a ball-and- socket-type connection structure.
  • the shoulder carrying sling enabled the ground combatant to distribute the weight of his/her weapon over the neck, shoulders and/or back rather than putting it entirely on the arms, and free his/her hands to perform other functions.
  • Shoulder slings were first used ' hundreds of years ago, yet they remain in widespread use today.
  • the shoulder sling is a relative cheap and effective way of carrying a machine pistol or long weapon such as a military rifle.
  • a draw back of the shoulder strap is that it requires substantial movement to go from a rest position to a fire-ready position. The ground combatant must still raise the rifle to the appropriate level while buttressing the stock against the correct spot on his body before firing.
  • the shoulder sling is merely a mechanical attachment means for tethering the weapon to the ground combatant. It does not provide any other value-added electronic functionality as is demanded by today's ground combatant.
  • the smart weapon is essentially a conventional gun chassis that has been
  • the smart weapon system has been contemplated as a new type of
  • patent includes a transferable core-type computer that is inserted into the
  • This computer provides the processing means
  • power supply is either integrated into the gun or worn elsewhere on the
  • a problem with the smart weapon is that due to the level of integration, it
  • a ground combatant may
  • laser-based systems suffer from several shortcoming that limit them to being used as a training supplement rather than enhancing his real-time combat effectiveness.
  • Yet another desirable feature would be to provide a plug-less
  • weapon attachment system that can be removeably attached to the body of
  • a rifle ball stock is provided.
  • the rifle ball stock according to this embodiment comprises a butt stock for a weapon that is adapted to be mated with a weapon at one end and configured with a ball element-type connector at another end.
  • a ball-and-socket- based system for mounting a weapon comprises a weapon butt stock that is adapted to be mated with a weapon at one end and configured with a ball element-type connector at another end, and a body mounted receiving socket adapted to receive the ball element connector.
  • a ball-and-socket based system for mounting a machine-type combat pistol comprises a pistol butt stock adapted to be attached to a pistol at one end and configured with a ball element-type connector at another end, a body-mounted receiving socket adapted to receive the ball element connector, and a body-mounted restraining bracket for removably affixing the machine-type pistol to the torso of the user when not being fired.
  • a ball-and- socket-based bus for a weapon comprises a butt stock adapted to be attached to a weapon at one end and configured with a ball element-type connector at another end, and a body mounted receiving socket adapted to receive the ball element connector, wherein the ball element connector is comprised of two or more electrical contact portions, and the receiving socket is comprised of two or more electrical contact portions and two or more electromechanical or optoelectrical position determining means adapted to determine an orientation of the ball-shaped connector relative to the receiving socket.
  • a ball-and- socket-based bus for a weapon comprises a butt stock adapted to be attached to a weapon at one end and configured with a ball element-type connector at another end, and a body-mounted receiving socket adapted to receive the ball element connector, wherein the ball element connector is comprised of two or more electrical contact portions and a plurality of light emitting devices, and the receiving socket is comprised of a two or more electrical contact portions and a plurality of light receiving devices, information transmitted by the light emitting devices to the light receiving devices conveying an orientation of the ball-shaped connector relative to the receiving socket.
  • a ball-and-socket-based control bus comprises a hand activated controller having a track-ball or joy-stick type portion adapted to be controlled by a human hand and configured with a ball element-type connector, and a body mounted receiving socket adapted to receive the ball element connector, wherein the ball element connector is comprised of two or more electrically conductive portions and the receiving socket is comprises two or more electrical contacts and two or more position determining means adapted to determine a position of an axis of the ball-shaped connector relative to the receiving socket.
  • a ball-and- socket-based control system for a heavy mounted weapon comprises a connector having a substantially ball shaped element and a weapon attaching means for securely attaching the connector to the weapon, and a receiving socket, adapted to receive the substantially ball shaped element, attached to a weapon platform, wherein the substantially ball shaped element comprises two or more electrical contacts, and the receiving socket comprises two or more electrical contacts and a position determining means for determining a position of the substantially ball shaped element relative to the receiving socket.
  • a vehicle-based ball- type connector comprises a ball element-type connector attached to a portion of a powered vehicle and a retractable cord connecting the vehicle to the substantially ball element, wherein, the ball element connector comprises a signal transmission means and is adapted to be removably attached to a portable body-worn receiving socket to transmit a signal between the socket an the vehicle.
  • a vehicle-based ball-type charging connector comprises a ball element connector having at least two electrical contacts and a cable attaching the connector to a power circuit, the ball-shaped connector adapted to be removably attached to a portable body-worn receiving means and to transfer power to a body worn-power storage device.
  • a ball-and-socket- based connector system for reduced exposure firing of a weapon.
  • the ball-and-socket-based connector system according to this embodiment comprises a weapon butt stock adapted to be securely connected to a weapon and configured with a ball element-type retractable connector and a second connector for connecting to at least one electronic device data gathering device attached to the weapon, a receiving socket adapted to receive the substantially ball shaped connector, wherein the retractable connector comprises a retractable data cable adapted to transfer data from the second connector to a body worn device.
  • a ball-and- socket-based weapon mounting system comprises an apparatus that is adapted to be mated with a weapon at one end and configured with a ball element connector at another end, and a receiving socket adapted to receive the ball element connector, wherein the receiving socket comprises a variable tensioning means controllable to impart differing degrees of resistance to motion of the ball-shaped connector within the receiving socket.
  • a ball-and-socket-type body-worn fastening mechanism comprises a body worn receiving socket and a carrying device having a receptacle portion and at least one ball element connector attached to the receptacle, wherein the receiving socket is adapted to receive the ball element connector and has a variable tensioning means controllable to impart differing degrees of resistance to motion of the ball-shaped connector within the receiving socket.
  • a ball-and-socket- based articulating bus structure comprises a plurality of vertebrae, each vertebra comprising a substantially disk-shaped member with a ball element connector portion on one side and a receiving socket on another side and an orientation determining means, wherein each receiving socket is adapted to receive the ball-shaped connector portion of the adjacent vertebra, and a ball element connector portion at either distal end of the articulating bus structure for conveying power, data and orientation information.
  • an electronically enabled helmet support structure comprises ball- and-socket based articulating bus structure adapted to support a helmet, configured with a attachment means for attaching the structure to a substantially fixed point on the wearer's body, a ball element connector adapted to attach to a receiving port in the helmet, and operable to supply power, data and head and/or weapon to the helmet.
  • a ball-and-socket- based video camera mounting system is enclosed.
  • the ball-and-socket- based video camera mounting means comprises an apparatus adapted to be mated with a camera tripod mounting screw opening at one end and configured with a ball element connector at another end, a body-mounted receiving socket adapted to receive the ball element connector, a variable tensioning mechanism in the receiving socket, and a body worn restraining structure adapted to removably restrain the video camera when not in use.
  • a dynamic combatant behavior monitoring system comprises a conventional weapon outfitted with one or more electronic information gathering devices, a weapon butt stock adapted to be attached to the butt
  • body-worn receiving bracket adapted to receive the ball element
  • a body-worn power supply device configured to supply power
  • a controller located at one terminal end of the
  • element comprises a ball element, an electrical signal path, a power
  • a haptic feedback system for a weapon comprises a ball-and-socket based weapon mounting system, a two-way communication system adapted to send and receive electrical signal wirelessly, and a vibrating alert, wherein the vibrating alert is adapted to vibrate in response to a signal received at the communication system and supplied through a ball-and-socket-based signal transmission system of the weapon mounting system.
  • FIG. 1 is a perspective view of automatic military rifle with a ball stock according to at least one embodiment of this invention
  • FIG. 2 is a perspective view of a ball element and a receiving socket of a weapon mounting system according to at least one embodiment of this invention
  • FIG. 3 is a perspective view of a ball-and-socket element of a weapon mounting system shown in an engaged position according to at least one embodiment of this invention
  • FIG. 4 is a top view of a receiving socket of a ball-and-socket-based weapon mounting system according to at least one embodiment of this invention
  • FIGS. 5 and 6 are side and top views respectively of a conventional military rifle attached to a combatant through a ball-and-socket-based weapon mounting system illustrating the sweep and elevation range of motion of the mounting system according to at least one embodiment of this invention
  • FIG. 7 is a front view of a ball-and-socket-based machine pistol mounting system according to at least one embodiment of this invention.
  • FIG. 8 is a perspective view of a self-orienting receiving socket of a ball- and-socket-based weapon mounting system according to at least one embodiment of this invention.
  • FIG. 9 is a is detail view of a garment-mounted ball-and-socket-type controller bus including an hand-activated controller according to at least one embodiment of this invention.
  • FIG. 10 is a light-transmitting ball element of a self-orienting ball-and- socket based weapon mounting system according to at least one embodiment of this invention.
  • FIG. 11 is a cut-away view of illustrating internal components of a light- transmitting ball element of a ball-and-socket-based weapon mounting system according to at least one embodiment of this invention.
  • FIG. 12 is an axial view of a light-transmitting ball element of a ball-and- socket-based weapon mounting system according to at least one embodiment of this invention;
  • FIG. 13 is a front view of a light receiving socket element of a self-orienting ball-and-socket-based weapon mounting system according to at least one embodiment of this invention
  • FIG. 14 is a perspective view of a ball-and-socket assembly of a self- orienting ball-and-socket-based weapon mounting system shown in an engaged position according to at least one embodiment of this invention
  • FIGS. 15 and 16 are side views illustrating a recoilless-type rifle attached to a ground combatant using a ball-and-socket-based weapon mounting system according to at least one embodiment of this invention
  • FIGS. 17 and 18 are top and front view respectively of a ball-and-socket- based weapon mounting system for performing reduced exposure firing according to at least one embodiment of this invention
  • FIG. 19 is a cut away side view of an in-vehicle ball-and-socket-based power recharging system according to at least one embodiment of this invention.
  • FIGS. 20 and 21 are front views of a ball-and-socket-based vehicle communication system for communicating with persons in an enclosed vehicle according to at least one embodiment of this invention.
  • FIG. 22 is a perspective view of an articulating bus structure according to at least one embodiment of this invention.
  • FIG. 23 is a side view of an individual vertebra element of an articulating bus structure according to at least one embodiment of this invention.
  • FIG. 24 is a top view of an alternative vertebra element of an articulating bus structure according to at least one embodiment of this invention.
  • FIG. 25 is side view of an articulating bus structure shown in a compressed configuration according to at least one embodiment of this invention.
  • FIG. 26 is a side view of a augmented reality display helmet and ball-and- socket-based helmet support structure including a self-orienting ball-and- socket mounting system and articulating bus structure according to at least one embodiment of this invention
  • FIG. 27 is a schematic view of a ball-and-socket-based robotic limb structure according to at least one embodiment of this invention.
  • FIG. 28 is a schematic view of an unitary ball-and-socket element of the robotic limb structure according to at least one embodiment of this invention.
  • FIG. 29 is side view of an individual ball-and-socket assembly of a robotic limb structure according to at least one embodiment of this invention.
  • FIG.30 is a perspective view of a segment of an enshrouded ball-and- socket-based robotic limb structure according to at least one embodiment of this invention. DETAILED DESCRIPTION OF THE DISCLOSURE
  • weapon will refer to any type of military, police and/or civilian weapon, ballistic or self-powered, that is manually fired including, but not limited to, automatic machine guns, long range rifles, shot guns, machine pistols, shoulder mounted rocket launchers, recoilless rifles, tripod-mounted guns and other suitable guns.
  • the present invention may be used with all of the foregoing classes of weapons, without limitation, whether ballistic or otherwise.
  • the embodiments described herein provide, as an exemplary structure, a conventional shoulder /torso-fired machine rifle, however, this is not intended to limit the claimed invention.
  • the invention will be understood to encompass, without limitation, all classes and types of hand-fired weapons, including those described herein.
  • the weapon is easily adaptable to replace the standard butt stock with a ball stock having a substantially ball- shaped ball element in accordance with various embodiments of this invention.
  • ball-and-socket type weapon mounting system will refer to any system in which the weapon is attached to a body-supported receiving socket by a weapon butt stock configured with a ball element connector that is received by the body- supported receiving socket.
  • the socket may be attached to a garment such as ballistic body armor, or other support vest, or may simply be attached by a belt or strap or attached by other suitable means.
  • ball stock will refer to a modified weapon butt stock device that on one end is configured to mate with a weapon in the same manner that a conventional butt stock mates with the weapon and on the other end is configured with ball element connector.
  • light emitting devices will refer to any type of information transmitting device such as, for example, a light emitting diode, an infra-red transmitter or other suitable light emitting device capable of transmitting binary information with light waves.
  • light receiving device will refer to any type of information receiving device such as a photoreceptor, photodiode, or other suitable light detecting device capable of receiving binary information transmitted with light waves.
  • ground combatant or simply
  • “combatant” will refer to anyone using a weapon in accordance with the various embodiment of this invention. However, it should be appreciated that the "ground combatant” or “combatant” may actually refer to someone from any branch of the armed forces, a law enforcement person, tactical response person, or even a recreational shooter.
  • weapon orientation and system integration will refer to a system for mounting a weapon that includes a mechanical mounting means, power, and data transfer capability, which in various embodiment, will be used to transfer data used to determine weapon axis orientation, as well as other data.
  • the phrase "self-orienting" will refer to various embodiments of a weapon mounting system in which the orientation of the weapon's boreline may be determined based on the orientation of the ball element of the weapon mounting system within the receiving socket.
  • a computer or other data processing device accessible by the ground combatant may determine and present to the ground combatant information including ballistic virtual objects.
  • ballistic virtual objects will refer to objects presented to the ground combatant through a helmet mounted display or other display device to create an augmented reality. A ballistic virtual object, or BVO, is disclosed.
  • Ballistic virtual objects are predictive augmented reality artifacts that that allow individuals or groups to understand the effects of one or more weapon systems in a simulation before they are discharged.
  • the ACRE system includes a calculation for deflection.
  • the horizontal clockwise angle between the axis of a bore and the augmented reality display's line of sighting must compensate for deflection.
  • the deflection angle is the of a deflection shot in gunnery, measured between the line of sight to the target and the line of sight to the aiming point.
  • BVOs also account for the line of departure, or direction of a projectile at the instant it clears the muzzle of the gun.
  • ACRE advanced cooperative rifle engagement
  • the ACRE method encompasses both the hardware for actually presenting sensory perceivable information, and the software or other data creation, manipulation, or other methodology for the specific purpose of presenting perceivable information to a participant.
  • the ACRE method constitutes a component of a Soldier-as-a-System, or SaaS, infantry lethality paradigm.
  • FIG. 1 a portion of a conventional military rifle such as an American M4 or M16 military rifle 50 is illustrated.
  • the rifle 50 has been modified to include a ball stock 100 of a ball-and-socket-type weapon mounting system in accordance with at least one embodiment of this invention.
  • the ball stock 100 is simply a mechanical replacement to the standard butt stock except for the ball element 110.
  • the ball stock mounting system 100 shown in Figure 1 is simply a mechanical replacement to the standard butt stock except for the ball element 110.
  • the axis 115 may comprise an adjustable axis such, for example,
  • a telescoping axis having a tensioning control to allow the length of the
  • axis 115 may be reduced to allow the axis 115 to be extended or compressed to an
  • control may then be actuated to "lock" the length of the axis 115 into place.
  • tensioning controls may be utilized, such as, for example, an
  • tensioning devices should be construed as
  • a telescoping axis is that when the weapon is being transported or not in use, the axis may be reduced to its minimum length in order to minimize the amount of space required to transport the weapon. This may have particular advantages to deployment and re- supply where many thousands of weapons are being transported at once.
  • the axis 115 includes an integrated recoil reducing element such as, for example, a spring or other linear or nonlinear resistance mechanism operable to reduce the recoil force imparted from the rifle to the body of the person firing the weapon.
  • an integrated recoil reducing element such as, for example, a spring or other linear or nonlinear resistance mechanism operable to reduce the recoil force imparted from the rifle to the body of the person firing the weapon.
  • a typical weapon includes a recoil mechanism.
  • the axis 115 may include an integral recoil reducing mechanism, such as, for example, a spring, a gas-based recoil reducing system or a blow-back-type recoil reducing system.
  • the axis 115 and the substantially ball element 110 will be made out of the same material. However, in various other embodiments, they will be made out different materials.
  • the specific material composition of either the axis 115 or ball element 110 is not critical to the invention. However, because it is intended that the ball stock 100 be used in deployed combat environments as well as other potentially harsh environments, it is preferred that both the ball element 110 and the axis 115 be made of a strong, lightweight, non-corrosive material such as, for example, plastic, nylon or other polymer, titanium, stainless steel, aluminum, or other suitable material. Furthermore in order to prevent denting of the substantially ball element 110, it may be preferable that it is completely solid, partially solid or of sufficiently thick construction to render it essentially impervious to denting.
  • FIG. 2 and 3 the components of a ball-and-socket type weapon mounting system according to at least one embodiment are illustrated.
  • a portion of a ball stock 100 and a receiving socket 200 according to various embodiments are illustrated.
  • the portion of the ball stock component 100 comprises a ball element 110 connected axially to a weapon connecting portion (not shown) along an axis 115.
  • a guide ridge 120 On the underside of the axis is a guide ridge 120 for guiding the ball stock 100 into a relaxed position of the weapon when the stock 100 is mated with the receiving socket 200.
  • the receiving socket 200 comprises a connector body 205 with a pair of receiving yokes 230 which define an opening adapted to accommodate the ball element 110 of the ball stock 100.
  • a concave portion 240 is disposed in the body 205 at a position "behind" the ball element 110 in order to allow the ball element 110 to fit securely in the socket 200, that is without any wobble. It should be noted, that in a preferred embodiment, the ball element 110 fits in the socket 200 with a smooth tension devoid of wobble.
  • the socket 200 of Figures 2 and 3 is illustrated as a one-piece type socket. Therefore, the ball shaped portion 110 is simply "clicked in” to the socket 200 to become engaged. Either the
  • variable ⁇ may be employed in various embodiments.
  • various embodiments may employ a variable
  • tension means to adjust the relative resistance to motion of the ball
  • the two yoke portions 230 of the socket may be spring tensioned so that tensioning enables the yokes 230 to maintain a minimum separation distance. Insertion of the ball element 110 of the ball stock 100 causes the yokes to separate. Once the maximum diameter of the ball .element 110 has passed the yokes 230 the spring tension causes the ball element 110 to enter the socket the remaining distance and to stay securely but removably in place. Removal of the ball element 110 is effected in a similar but reverse process. Applying sufficient axial force to the weapon will cause the ball to "pry" apart the yokes 230 until the maximum diameter of the ball shaped portion has cleared, after which the tension will assist in "expelling" the ball element 110.
  • the restraining yokes 230 may each have two natural positions, a closed position and an open position. Either prying the yokes 230 open or forcing them closed causes them to switch between positions. Alternatively, a release mechanism may, upon being actuated, cause the yokes 230 to open.
  • the ball element is loaded into the socket 200 from the top of the socket.
  • the ball may not be removed by applying axial force away from the socket 200 unless the weapon is pointing straight up. Normally, removal in this embodiment would be effected by pushing up transversely on the axis 115 while the weapon is elevated to a fire-ready level or by pushing towards the ball element 110 along the weapon axis while the weapon is pointing downwards.
  • This embodiment may also include a hinged or removable dust cover which, once the ball element has been inserted into the socket 200, slides over the ball-and-socket assembly to provide protection from exposure to dirt, moisture, and other contaminants.
  • a weapon mounting system in which a weapon butt stock is configured with a ball element that mates with a body-supported receiving socket.
  • the ball-and-socket assembly may be reversed such that the weapon butt stock is configured with a receiving socket and the ball element is supported by the user's body. Such an embodiment is within the scope of this invention.
  • the ball stock 100 is shown engaged with the socket 200 while substantially facing outward, that is, in a fire-ready position of the weapon.
  • the guide ridge 120 will serve to guide the weapon into a complimentary receiving channel 220 to prevent axial roll of the weapon which may impede the ground combatant's ability to quickly return the weapon to the fire ready position.
  • the receiving channel 220 will also "lock" the weapon into a stowed position using a friction hold or other mechanical, manually released hold mechanism (not illustrated).
  • the restraining yokes 230 define an opening 210 which is slightly smaller than the diameter of the ball element of the ball stock enabling the ball to be "clicked in” to the socket 200.
  • the channel 220 for receiving the guide ridge can be seen at the bottom of the socket 200.
  • the socket 200 may be attached to a garment such as ballistic body armor or other support garment or may simply be attached by a belt or strap or attached by other suitable means.
  • the receiving socket may employ one or more tensioning devices to allow adjustment of the gap 210 as well as the same or additional tensioning devices to adjust the resistance to motion of the ball element within the socket 200.
  • FIGS 5 and 6 are side and top views respectively illustrating ground combatant with a machine-type rifle 50 attached to his body using a ball- and-socket-type weapon mounting system according to at least one embodiment of this invention.
  • the rifle 50 may be moved through a full range of sweeping and elevated motions while attached to the ground combatant through the ball-and-socket-based weapon mounting system.
  • a second socket 200 may be located on the left shoulder /torso region to accommodate situations where "off-hand" shooting is required, e.g. corners.
  • the socket 200 is illustrated as being
  • the socket 200 may be located
  • the socket 200 has been shown as located in
  • the receiving socket 200 will be able to be located at
  • this will be facilitated by sliding the socket along a track
  • 200 may be remounted, such as, for example, to a garment having a
  • the mounting socket 200 may be relocated to
  • This position may be particularly useful when the
  • the location of the receiving socket 200 to a location that is better suited to
  • this system comprises a body- supported mounting socket 200 and a pistol ball stock 100 comprising a ball element 110 that is received by the socket 200 and an axis 115 that is adapted to be mounted to the butt end of the pistol 70.
  • the weapon mounting system also comprises a strap 180 to hold the pistol 70 against the chest/torso when not in use.
  • the strap 180 is but one example of possible restraining mechanisms that can be used in accordance with embodiments of this invention.
  • the garment to which the receiving socket 200 is attached comprises an integral recess adapted to receive and hold the machine pistol 70 either alone or in combination with some other mechanical fastening means such as a strap, clip, bracket, etc.
  • the weapon mounting system includes a garment with a void designed to conform to the shape of the machine pistol.
  • the garment may include a recess comprised of foam or other flexible material in which the machine pistol may be stowed. This may or may not include a strap to assist in preventing the weapon to unintentionally be removed from the recess.
  • connector at the top may be attached to the body of a ground combatant
  • a video camera such as, for example, for use with
  • the video camera will include a ball
  • the camera may be any type of the body of most video and still cameras.
  • the camera may be any type of the body of most video and still cameras.
  • the camera may be any type of the body of most video and still cameras.
  • the camera may be any type of the body of most video and still cameras.
  • the camera may be any type of the body of most video and still cameras.
  • the camera may be any type of the body of most video and still cameras.
  • the camera may be any other objects.
  • orientation may be used synonymously to the extent that both are derived mathematically based on the orientation of one or more self-orienting ball- and-socket joints with respect to a known fixed coordinate location.
  • the combatant's field of vision is roughly analogous to the weapon's boreline as both are based on determinations of orientation — the boreline is the straight line defined by the weapon's barrel and the field of vision is a partially conical N-degree field of view presumed to be aligned with the head of the helmet wearer, as measured by the orientation of the helmet.
  • weapon trajectory has no analog in the context of the helmet because the helmet is merely determining orientation for the purposes of calculating a field of vision.
  • the socket 200 comprises a main body portion 205, a pair of restraining yokes 230, a pair of position detectors 240, 245.
  • position detectors 240 For ease of explanation purposes, only 2 position detectors are illustrated in Figure 8. However, in various embodiments, it may be desirable to utilize more than two position detectors to build redundancy into the system. Also, in various embodiments, one of the position detectors will detect position
  • mechanical position detectors in various embodiments, they may be any type of mechanical position detectors, in various embodiments, they may be any type of mechanical position detectors, in various embodiments, they may be any type of mechanical position detectors, in various embodiments, they may be any type of mechanical position detectors, in various embodiments, they may be any type of mechanical position detectors, in various embodiments, they may be any type of mechanical position detectors, in various embodiments, they may be any type of mechanical position detectors, in various embodiments, they may be any other sensors
  • rotation of the ball element may be used to determine the boreline of the
  • mouse ball can be used to determine the location of the cursor on a
  • theses position detectors 240 and 245 may be used to calculate the position of the object.
  • processing system such as mobile computer system, that performs
  • the position detectors 240, 245 provide coordinate data that is sufficient to
  • channel 220 is activated whenever the weapon is removed from the rest
  • the position detectors 240 and 245 are not able to provide orientation data
  • orientation with respect to the world is provided by a
  • the universal location module may
  • the self-orienting socket 200 will include a integral replaceable and /or rechargeable battery. However, in various other embodiments, the socket 200 will receive power through a wired connection to a power supply worn by the ground combatant such as radio or computer power pack.
  • Figure 8 shows position locators, an opto-electrical location means such as that employed by an optical mouse may be used to determine ball element orientation within the socket assembly.
  • the ball-and-socket-type control bus consists of a hand controller 300 comprising a ball element connector portion 310, mated with a body-mounted receiving socket 200, a control arm 320 and command button 325.
  • the control bus according to this embodiment may be used to perform manual remote control of another apparatus such as remotely operated vehicle, a mounted remotely
  • control arm may be used to turn, rotate or otherwise direct a remote object
  • button 325 may be used to effect a particular command such as on/ off,
  • button 325 is shown in the Figure. However, in various embodiments, it is
  • control circuitry capable of displaying a feed from the remote camera
  • bus 300 serves a means of allowing the ground combatant to "see” what is
  • the display will be any suitable display.
  • the display will be any suitable display.
  • control bus 300 may be used in a stand alone environment.
  • the ground combatant will support two receiving sockets, one for accepting the weapon ball stock and the other for receiving a controller 300 creating a ground combatant that is not only capable of controlling various remotely operated devices, but also ready for live fire environments and able to access all the functionality available through the self-orienting ball-and- socket type weapon connector as discussed herein.
  • the weapon itself may server as the controller. That is, movements of the weapon could be translated into control movements of a remote controllable device.
  • the weapon may be configured with one or more command buttons on the weapon ball stock which serve the same function(s) as the command button 325.
  • the ball-and-socket type body- mounted control bus is shown attached to a garment such as a ballistic body armor.
  • the control bus may be attached to a regular garment or may be a stand alone device attached to the body with one or more straps, harnesses or other suitable attachment mechanism.
  • the light- transmitting ball element connector 400 comprises a light emitting ball element 410, an axis 414 and a guide ridge 420.
  • the light transmitting ball element connector 400 comprises a plurality of windows 425 through which information is transmitted in a light signal, such as, for example, an infrared light signal.
  • a light signal such as, for example, an infrared light signal.
  • the windows 425 will be flush with the surface of the ball portion 410.
  • each of the windows 425 will be recessed in a dimple.
  • a light transmitting device such, as, for example, an IR transmitter, that is operable to transmit a light-based information signal identifying the particular transmitter that transmitted the light-based signal, as well as to provide data communications. This information may then be used by a data processor to determine the orientation of the ball element within the socket.
  • the transmitters are also operable to transmit data from an external data source, such as, for example, a laser range finder, video camera, IR sensor or other weapon-mounted data capturing equipment.
  • the light transmitting connector is adapted to mount to the butt end of a conventional weapon. Interface with the various external data gathering devices is facilitated via one or more connectors located along the axis 415 near or at the weapon connecting end.
  • power for the light transmitting ball element 410 is supplied through the physical connection between the ball element 410 and a receiving socket.
  • power may be supplied by a battery or other power storage device integral or attached to the weapon.
  • FIG. 11 a cross sectional view of a portion of light transmitting ball element 410 according to at least one embodiment of this invention is illustrated.
  • Light is transmitted out of the ball element 410 by a plurality of light transmitting devices 426 though channels 427 and out the windows 425.
  • the windows will be lenses.
  • the windows 425 will merely be outlets for the light signal.
  • the channels 427 may be a waveguide material, reflective material, gas, vacuum or other suitable medium. The specific composition or the scale of the channels 427 is not critical to the invention.
  • a microcontroller 440 located in the ball element 410 directs a light encoder 430 to encode information to be transmitted by each of the light transmitting devices 426.
  • the light-based information signal emitted by each of the devices 426 will only be a number or other indicator of the particular device emitting the light, thereby enabling a data processor receiving the signal to determine an orientation of the ball-portion and therefore any weapon or other device connected to the ball element 410.
  • the light-based information signal will also be a data signal from one or more data gathering devices received by the
  • microcontroller 440 over the external bus 450. As discussed herein, these
  • a range finding device may include signals originating from a range finding device, infra-red
  • the microcontroller 440 may be a microprocessor, a
  • microcontroller a microcontroller, a application specific integrated circuit (ASIC), a
  • the light encoder 430 may be an infrared-type light
  • the ball element is not shown in the Figure, in various embodiments, the ball element
  • 410 may also house a wireless transmitter, such as, for example, a wireless
  • UWB may be particularly well suited for this
  • the light emitting devices 426 would be any light emitting devices 426.
  • the UWB transmitter would be used to
  • the receiving socket will have a UWB receiver operable to de-modulate the UWB signal and transmit the data to a data processor through a wired connection.
  • the light windows 425 are illustrated as being spaced in a relatively uniform pattern, this is not required.
  • the windows 425 may be spaced uniformly, randomly, or in accordance with some predetermined non-uniform pattern.
  • information signals are being emitted through the windows 425 which are used by the receiving socket to determine an orientation of the ball element 410 relative to the socket, a certain minimum number of windows 425 may be necessary.
  • the scale and shape of the windows 425 relative to the ball element 410 is for ease of illustration only. Smaller or larger windows 425 maybe used without departing from the spirit or scope of the invention.
  • the surface of the ball element 410 is used as an electrical contact to receive power for the internal electric components including the microcontroller 440, light encoder 430, bus 450 and individual light emitting devices 426. Therefore, as will be discussed in greater detail herein, the surface of the ball element, except for the windows 426, will be comprised of two or more discrete sections of electrically conductive material.
  • FIG. 12 an axial view of a light emitting ball element 410 according to at least one embodiment is illustrated.
  • the ball element according to this embodiment is divided approximately down its midline into two electrically isolated hemispheres 413 and 414 by a dielectric
  • the purpose of the dielectric material 412 is to allow a single
  • the light receiving socket 500 according to
  • this embodiment comprises a main body portion 505 a pair of restraining
  • yokes 530 a pair electrical contacts 513, 514, a concave portion 524 and a
  • receiving devices such as, for example, photoreceptors, photodiodes, or
  • the receiving socket 500 also comprises a guide channel 525
  • electrical contacts may be used to increase the likelihood that electrical
  • the windows 525 need to be spaced sufficiently close
  • receiving window 525 may occupy at least a portion of the concave
  • portion 524 The specific number of receiving windows 525 is not critical
  • an activation switch 550 permits the ball-and-socket device to go into an
  • the light receiving socket 500 may be similarly configured
  • restraining yokes 530 constructed to the extent that the restraining yokes 530 may be movable
  • socket 500 to an optimal level. Also, as discussed herein, one or more of
  • tensioning devices may be used to reduce the mobility of the ball element
  • the ball element will be smoothly tensioned within the
  • the receiving socket 500 of Figure 12 does not preclude any of the other
  • receiving socket 500 preferably includes a connector for receiving power
  • power may supplied by an external power source.
  • power may supplied by an external power source.
  • electromechanical or optoelectrical position locators the light receiving
  • socket 500 preferably includes a universal location module in order to provide the same type of dynamic networked functionality as discussed
  • system shown in Figure 14 comprises a receiving socket 500, such as that
  • power is first available to the
  • a data processor may determine the particular orientation of the ball-element within the socket 500. Through the full range of rotation of the ball element 410 within the socket 510, there should always be sufficient light signals on the receiving windows to enable the data processor coupled to the receiving socket 500 to determine the orientation of the ball element as well as to pass data between the ball element 410 and the receiving socket.
  • An advantage of the light-transmitting self -orienting ball-and-socket weapon mounting system is that because of the proximity of the transmitting devices to the receiving devices there are not interference issues.
  • the transmitter In a typical IR communication system, the transmitter must transmit an identification code to design the device for which the signal is intended. In the system defined by various embodiments of this invention, this is not necessary because the transmitting windows are within millimeters of the receiving windows.
  • data transfer is achieved by a single light transmitting device located below a portion of the socket facing part of the ball element.
  • a single receiving socket located within reflective concave recess in the socket receives signals form this light transmitting device such that for any orientation of the ball element, other than the stowed position, data communications will be feasible between the ball element and socket.
  • the light transmitting device is not used to determine orientation. Rather, one or more separate orientation devices such as, for example, one or more separate IR orientation readers such as those used in an optoelectrical mouse are used.
  • the ball element surface will be marked or encoded with symbols, color or other known means to enable the reader(s) to detect movement of the ball within the socket.
  • orientation readers In various embodiments it will be necessary to provide the orientation readers with a fixed frame of reference by zeroing them out. In various exemplary embodiments this is done by returning the ball element to the stowed position in the socket, that is, with the weapon pointing straight down and the guide rail in the receiving channel.
  • the light emitting ball element is comprised of one or more light transmitting devices
  • the receiving socket comprised one or more light receiving devices.
  • both the ball element and the receiving socket may comprise light receiving and light transmitting elements, enabling two- way communication between the socket and the ball element, or, in other words, between the weapon/weapon-based data acquisition systems and the outside world. This may have particular advantages in an advanced cooperative rifle engagement orientation analysis method which maintains real time or near-real time data on multiple ground combatants simultaneously and can issue commands to individual ground combatants
  • a signal is received at a transceiver of the ground
  • processing system then causes the receiving socket to send an instruction
  • a small light may be illuminated on the
  • the recoilless rifle 60 is attached to a body-
  • the support axis is
  • the ball element 610 is a
  • the socket 200 includes either an electromechanical or light-based orientation determining means.
  • the embodiment of Figures 15 and 16 differs from previous embodiments in that the ball element 610 is not located along the axis of the barrel of the rifle 60.
  • the advanced cooperative rifle engagement orientation analysis method * may use the orientation data of the ball element 610 within the socket 200 to determine ballistic virtual objects of the recoilless rifle 60.
  • the axis need not be located along the boreline, so long as the boreline can be determined knowing the orientation of the ball element within the socket.
  • this same orientation method may also be used with a vision orientation measuring system based on a determination of helmet orientation as measured by a ball-and-socket- based helmet support and orientation system.
  • Figures 15 and 16 illustrate two support axis 615 having differing dimensions.
  • the specific length of the axis 615 as well as the angle that the axis 615 makes with the rifle 60 are not critical to the invention. In fact, as long as the length of the axis and the angle are known, any suitable combination of length and angle may be utilized with the invention.
  • the weapon 50 is an automatic rifle that is configured with a ball stock mounting device 700.
  • the ball stock mounting device 700 comprises a ball element 710 connected to the rifle via an axis 715.
  • the axis 715, and thereby the weapon 50 may be separated from the ball element 710.
  • the ball element and weapon may be separated, thereby enabling the weapon 50 to be extended away from the body while maintaining the ball element 710 in the socket 200.
  • a retractable cord 720 located in either the ball element or the axis maintains connection continuity with the ball-and-socket joint.
  • the weapon 50 has a video camera 55 mounted along the axis of the barrel.
  • the retractable cord 720 not only maintains a physical connection between the weapon 50 and ball element 710, but it also transmits video data from the weapon-mounted video camera 55 to the ground combatant via the ball element 710 and socket 200 connection.
  • a body worn display device such as, for example, a head/helmet mounted display can be used to display to the ground combatant what the gun "sees.”
  • the weapon mounting system is not using position locators or a light
  • retractable cord the axis 710, may instead, be connected to another self-
  • the locking mechanism at the end of the axis 715 is disengaged.
  • the axis may rotate around the ball element 710 in the body-worn
  • the ground combatant can use the weapon in a reduced exposure
  • the weapon will be connected to a shortened ball stock which mates with another ball stock.
  • the second ball stock is connected to a shortened ball stock which mates with another ball stock.
  • the second ball stock is connected to a shortened ball stock which mates with another ball stock.
  • a personnel carrying armored vehicle 80 is
  • the ball-type connectors 850 are each adapted to be connected to a body-
  • the receiving socket is worn receiving socket.
  • the receiving socket is not limited to, the receiving socket
  • the receiving socket is a special purpose power scavenging
  • the socket is configured to be worn power supply.
  • the socket is configured to be worn power supply.
  • the socket assembly includes an automated internal switching means
  • receiving socket is a conventional receiving socket as discussed herein.
  • receiving socket 800 that causes power to flow either into or out of the
  • the ball-type connector 850 may be of
  • the socket from a power supplying mode to a power receiving mode.
  • vehicle 90 is shown with a ball connector 900.
  • a ball connector 900 In various embodiments,
  • the ball connector provides a connection interface to persons inside the ball connector
  • retractable cord 910 and snap it in a body worn receiving socket (not
  • the ball element will
  • the combatant uses his existing radio to talk to vehicle crew members.
  • the vehicle-based ball connector is a better solution than
  • the vehicle-based ball connector is also better than
  • body-worn battery system is recharged. Furthermore, it is anticipated that
  • combatant and the vehicle is, in a preferred embodiment, based on infra ⁇
  • orientation substance is "told" to be off
  • the socket assembly may include power conversion circuitry to accommodate power from
  • embodiment comprises a ball element 1010 and axis 1015 connected to
  • each vertebra 1005 comprising a
  • each miniature ball-element 1020 and socket is a single miniature ball-element 1020 and socket.
  • 1030 comprises a self-orienting ball-and-socket joint, such as, for example,
  • element can move independent of the other elements in any direction
  • the system must first be zeroed out, such as,
  • the ball elements 1020 and sockets 1030 merely provide a mechanical connection means.
  • the series connection of the individual ball elements 1020, shafts 1025, disk-shaped portions 1035 and sockets 1030 forms a flexible spine-like structure which may be used to convey electricity, single or bi-directional information, water and /or cooling or heating fluid.
  • the tension of the balls 1020 within the sockets 1030 is sufficient to outweigh the effects of gravity so that when articulated to a certain position, the exonotocord 1000 remains in that position until manually moved.
  • the tension of the balls 1020 within the sockets 1030 will be higher than that necessary to outweigh the effects of gravity, thereby enabling the exonotocord 1000 to act as a support device.
  • the articulating bus structure according to these embodiments may have particular utility for connecting a data processing unit such as a body worn computer to a helmet including an augmented reality display such as a pilot's helmet, ground combatant helmet for displaying weapon orientation data, or other helmet mounted display, such as the helmet 95 shown in Figure 26.
  • the articulating bus structure 900 may assist in carrying some of the weight of the helmet, reducing the burden to the ground combatant. Furthermore, unlike ball-and-socket-based embodiments previously discussed herein, the individual ball-and-socket connections forming the articulating bus structure 1000 are not intended to be disconnected. This allows the articulating bus structure 1000 to carry articulated loads such as a helmet or head mounted display and to withstand axial pressure without becoming unintentionally disconnected.
  • the exonotocord 1000 will thus move in 6 degrees of freedom in accordance with the wearer's head, neck and torso motions, while communicating position and orientation via the exonotocord 1000, as described herein.
  • the exonotocord 1000 Upon connection of the ball element 1010 to the helmet's receiving socket 97, which in various exemplary embodiments, is located at the base of the rear of the helmet, the exonotocord 1000 will gain and maintain orientation of the wearer's head based on measured orientation of the helmet.
  • the exonotocord 1000 is anchored to the wearer's body.
  • this attachment point will include a universal location module, which, as discussed herein, provides an orientation of the exonotocord 1000, the helmet and therefore the wearer's field of view relative to the rest of the world.
  • the exonotocord 1000 will also include one or more flexible conduits 1040A,B, 1041A,B, running through the various vertebrae 1005 of the cord 1000.
  • Figure 24 illustrates a top view of an individual vertebra element 1005.
  • the pads 1035 of the elements 1005 in Figure 24 are half /quarter moon- shaped.
  • the half/ quarter moon shape may be particularly well suited for fitting against the neck of a wearer's body when the exonotcord 1000 is supporting a helmet or head-mounted display device.
  • conduits 1040A,B and 1041A,B are shown passing through the pads 1035.
  • conduits 1040A and B, along with the orientation socket link 1055 are used to transfer power and data, while the other conduits 1041 A, B are used to transfer data, coolant and water.
  • coolant and water conduits 1041A,B are optional and may be omitted in various embodiments.
  • the power and data conduits 1040A,B may be used to supply power to an distally connected device, such as, for example, a pilot's helmet, ground combatant's helmet, or other augmented reality type helmet display.
  • an distally connected device such as, for example, a pilot's helmet, ground combatant's helmet, or other augmented reality type helmet display.
  • the particular field of view of the person wearing the helmet may be determined and routed through the data conduit to a body worn transmitter and then transmitted to a remote command and control center in order to provided integrated information back to the ground combatant based on the measured helmet orientation.
  • the data may be passed to a data processor worn-by or accessible by the ground combatant and used to provide feedback to the display in the pilot or ground combatant's helmet, with the ball element 1010 supplying power to the helmet and transmitting information to the helmet in a manner consistent with embodiments discussed herein.
  • a terminal microcontroller 1050 is located below the final vertabra 1005 on the opposite end of the from the ball element 1010.
  • the terminal microcontroller 1050 is in electrical communication with the data conduit and powered by the power conduit.
  • the terminal microcontroller 1050 compiles the reported orientation of each vertebra's receiving socket 1030, and the helmet ball element 1010 and socket 97 and outputs a total relative position of the center point of the helmet ball element 1010 relative to the exonotocord anchor point.
  • each individual self -orienting receiving socket 1030 houses an infrared orientation reader such as those utilizing conventional orientation methods of the Infrared mouse or trackball.
  • the infrared orientation reader reads the orientation of the ball element 1020 and reports data to the terminal microcontroller 1050 through the orientation socket link 1055.
  • the orientation socket link 1055 carries the orientation data from the orientation determining devices of each socket 1030 to the data cable in the data conduit. Within each vertebra 1005, the orientation socket link 1055 sends the x, y, and z data collected by that particular orientation determining device along the data cable to the terminal microcontroller 1050.
  • the helmet ball element 1010 is also tied into the data cable transmitting its orientation relative to the helmet to the terminal microcontroller 1050.
  • the exonotocord 1000 may also have a conduit available to deliver air or water, or separate conduits for each.
  • the water conduit may be used to supply drinkable water to the wearer of the helmet.
  • the water conduit is an inline fluid passage.
  • the water conduit will adjoin to a bodyworn reservoir at or near the base of the exonotocord. In the vicinity of the helmet end of the exonotocord, the conduit will mate with another hydration tube inked to the helmet.
  • water will not be passed through the ball and socket joint consisting of the ball element 1010 an the helmet socket 97, but rather will be routed in a manner enabling a feed to the user's helmet that does not interfere with the full articulation and operation of the helmet or exonotocord.
  • the exonotocord 1000 may include an air conduit that supplies breathable air to a helmet, chemical suit, nuclear, radiological or biological suit, or other head mounted breathing apparatus.
  • the air conduit is an in-line air passage that supplies air from a bodyworn air supply and/or purification system at or near the base of the exonotocord. In the vicinity of the helmet end of the exonotocord 1000, the air conduit will adapt to another air tube linked to the helmet. In a preferred embodiment, air will not be passed through the helmet ball-and-socket joint, but will be routed in a manner enabling a feed to the user's helmet that does not interfere with the full articulation and operation of the helmet or exonotocord 1000.
  • the exonotocord may also contain a liquid coolant or heat conduit to assist in removing or adding heat.
  • the convex face of each vertbra pad 1035 may comprise a material, such as, for example, aluminum which is able to quickly dissipate heat.
  • the exonotocord 1000 may employ one of various well-known electric cooling or heating mechanisms.
  • each of the vertebra pads 1035 are filled with a gel-like material.
  • the pads 1035 are made of an elastic foam material or other suitable compressible material.
  • the shaft portions 1025 will be collapsible, allowing them to be compressed or extended, shorting or increasing the length of the articulating bus structure 1000.
  • the shaft portions 1025 are collapsible /extendible along their axes, it will be necessary to determine the position of each shaft portion relative to a reference point such as, for example, it minimum compression, maximum extension, or some point between. This can be accomplished using one of various well known sensor means.
  • the exonotocord 1000 may be used as part of
  • weighty helmet components such as computers, vision
  • the wearer will be able to aritculate the
  • exonotocord 1000 into a rigid position in order to "lift" the helmet system
  • rigidity may be
  • each pad 1035 of the exonotocord 1000 to reduce compressibility of the
  • head mass support is accomplished by at least
  • the wearer may retract the at least one
  • the wearer is a ground combatant positioned on his stomach
  • the head mass supporting system may include a mechanical and/or electromechanical release for quickly releasing tension/rigidity from the exonotocord 1000.
  • orientation of the wearer's vision is more complicated than the standard self -orienting ball-and-socket-based weapon mounting system due to the additional intervening vertebrae elements of the exonotocord.
  • orientation is determined using any of the self-orienting ball-and-socket embodiments discussed herein such as, for example, electromechanical, electro-optical and light based self-orienting ball-and-socket joints. Knowing the dimensions of the helmet and the orientation of the ball element within the socket, orientation of the wearer's field of vision may be determined.
  • the terminal microcontroller at the base of the exonotocord will receive the orientations of the ball element in each vertebra-based receiving socket.
  • the terminal microcontroller is able to a base reference point. With this fixed reference point, the orientation of each vertebra may be imposed on the previous vertebra and then the orientation of the helmet ball element in the helmet and by association the field of vision of the wearer.
  • the field of view consists of the total area viewable by a user when the head and neck are articulated for a given body position.
  • the user's presumed field of view with natural and/or enhanced vision can be collected as data.
  • a remote data processor may model a virtual field of regard for that ground combatant.
  • this information may be used to provided effectiveness analysis. However, in various other embodiments, this information may be used to provide real time or near real time effectiveness feedback to the ground combatant or his leadership. In various embodiments, and as will be discussed in greater detail herein, this information may include ballistic virtual objects.
  • the virtual field of regard may comprise a virtual 360 degree virtual field of regard. This will eliminate the need for updates based only rotation of the body. Alternatively, updates may occur automatically or dynamically every N time units based on commands received from the advanced cooperative rifle engagement system. Alternatively still, updates may occur based on a request command issued by the ground combatant to receive updates.
  • FIGS 27-30 illustrate various views of a ball-and-socket-based self- orienting robotic limb structure according to at least one embodiment of this invention.
  • a robotic limb structure 1100 is illustrated.
  • the limb structure 1100 comprises a plurality of ball-and-socket assemblies 1101, a terminal CPU module 1150, and an end effector 1160.
  • the CPU module determines the precise orientation of the end effector 1160 based on the orientation of each of the self-orienting ball-and-socket assemblies 1101.
  • a power circuit such as battery or other power supplying device provides power to the CPU module 1150.
  • the CPU module 1150 may comprise a microprocessor, a microcontroller, a combination of hardware and software, a digital signal processor, an application specific integrated circuit (ASIC) or other suitable data processor.
  • a universal location module is preferably located near or at the CPU module 1150 to enable the module to determine a fixed reference point from which to reference the individual ball and socket assemblies 1101 and ultimately the end effector 1160.
  • the end effector 1160 may be a simple mechanical device such as a clasp, a cutting tool, a foot or hand, or other such tool, or even a weapon.
  • the end effector 1160 may be a data acquisition device such as a sensor, camera, or other transducer device that converts some observed phenomena into electrical signals.
  • each ball-and-socket assembly 1101 comprises a ball element 1110, a connecting axis 1115 and a socket element 1105.
  • the ball element 1110, axis element 1115 and socket element 1105 form a unitary structure that is fixed.
  • Line AA in Figure 28 shows that the midline of the ball element 1105 also passes through the center of the concave portion of the socket element 1105. While the axis 1115 may be compressed or extended, it is preferred that the ball element 1110 does not articulate in other directions independent of the socket 1105. Without this relationship, it may be difficult to determine orientation of the robotic limb structure 1100.
  • Various embodiments of the robotic limb 1100 according to this invention are based, in part, on spherical stepper motors such as are known in the art.
  • the spherical stepper motor is a motor that develops spherical mechanical motion and is therefore able to move in any direction rather than rotating on a single axis.
  • the spherical stepper motor consists of a semi-spherical stator that is implanted with electromagnets and a spherical rotor implanted with permanent magnets. The forces between the permanent magnets or rotor poles on the rotor surface and the activated electromagnetic stator poles inside the stator produce the required torque for joint motion.
  • the ball element and receiving socket serve as the rotor and stator respectively.
  • the spherical stepper motor is configured as a socket assembly having multiple electromagnets arranged in a precise pattern. Permanent magnets are also arranged on the ball element surface. The magnet-laden ball element is inserted into the socket assembly with the uniquely identifiable electromagnets. By activating two or more of these electromagnets, the processor causes them to attract certain permanent magnets in the ball element. The developed forces between the permanent magnets and the activated electromagnets inside the receiving socket produces the required torque for joint motion.
  • each socket assembly 1105 comprises a stator layer 1130 comprising a plurality of electromagnets, a processor 1125 for selectively supplying power to the electromagnets in the stator layer 1130 based on a desired orientation, and a hub battery 1120 that stores power for the processor 1125 and stator layer 1130.
  • the receiving socket 1105 also comprises one or more light receiving elements interspersed with the electromagnets for receiving a light-based signal from the ball element 1110.
  • the light-based signal is an IR signal conveying information used to determine the orientation of the ball element 1110 in the socket 1105 in accordance with the various self -orienting ball-and-socket systems discussed herein.
  • the ball element 1110 functions as a rotor.
  • the ball element 1110 also comprises a plurality of permanent magnet portions 1113 which are distributed around the surface of the ball element 1110 in a configuration that allows the stator layer 1130 to articulate the ball element 1105 into a particular position within the socket 1105.
  • IR data transmission is preferable over other electromagnetic wave-based methods of data transfer because the presence of the magnetic field caused by the stator layer 1130.
  • a hub battery 1120 is located in each socket element 1105 to provide electrical power for the processor 1125, stator layer 1130 and light receiving elements.
  • the reason for incorporating the hub battery 1120 in each element 1101 is because of anticipated difficulty in transferring power through each ball element 1110 while at the same time activating the spherical stepper motor. Rather, in various embodiments, power may be supplied to the hub batteries 1120 periodically in a mode where the spherical stepper motor functionality is disabled. In such an embodiment it may be preferably to "lock" the ball- and-socket elements to prevent motion of them while the hub batteries 1120 are being charged.
  • the hub batteries 1120 are supplied with power from a power subsystem comprising a hybrid distributed power system such that each hub battery 1120 is independently rechargeable and controlled by an intelligent power optimization scheme.
  • the robotic limb 1100 is premised in part on the same concept as the weapon orientation and integration system discussed herein.
  • the microcontroller 1125 performs control for the spherical stepper motor based on commands received from the CPU module 1150. Commands are passed from element 1101 to element 1101 using a bi-directional IR data transfer protocol between the ball elements and receiving sockets. Data runs along an axial data bus which runs generally along axial line A-A as shown in Figure 28.
  • the CPU module 1150 calculates the position of each ball element 1110 required to give orientation of the end effector 1160. This provides precise coordinated articulation control. Mathematical determination of the orientation of the end effector 1160 is performed by the CPU module 1150 in a manner consistent with that discussed above in the context of the weapon orientation and system integration except that the coordinate matrix is increased in size by the number of individual elements comprising the robotic limb 1100. However, once the orientation of the first element is determined with respect to the world via the universal location module, a simple transform may be performed to determine the adjustment to that orientation caused by each subsequent ball-and-socket element 1101.
  • the robotic limb structure 1100 disclosed herein may be used to provide motion to a remote controlled articulating robot structure comprised of a single robotic limb structure, such as, for example, a snake-like robotic structure made of several individual ball-and-socket elements 1101. Alternatively, two or more robotic limb structures maybe used to create a N— legged robotic structure.
  • the robotic limb structure 1000 disclosed herein has particular advantages over existing robots. One advantage is that the robotic limb structure 1100 is operable to move with greater freedom of motion than is typically available from robotic systems. The snake-like motion of the robotic limb 1100 facilitated by the series connection of the ball-and-socket elements 1101 permits articulation with 6 degrees of freedom.
  • Another advantage of the robotic limb 1100 is that the need for wires or other cables is obviated by the internal connection of the ball-and-socket elements 1110 and the manner in which power and data transfer occurs internally. All components may be contained within a flexible shroud without limiting the limb's 1100 ability to articulate. This reduces the susceptibility of the limb 1100 to snagging or otherwise becoming entangled while traversing terrain.
  • this vector may be determined utilizing the method set forth herein.
  • the invention should not be limited to this particular method of determining weapon orientation. Rather, any suitable method may be utilized with the various embodiments of this invention.
  • a right-hand Cartesian (x, y, z) coordinate frame with an origin at the center of the ball element is provided.
  • the weapon frame is a mathematical construct, not a physical object.
  • the x-axis of the frame extends from the center of the ball element in a direction parallel to the weapon barrel.
  • the y-axis extends from the center ball element out the right side of the weapon if one is looking from the rear of the weapon towards the front and the weapon has a zero degree cant relative to local gravity.
  • the z-axis extends from the center of the ball element in the direction of local gravity.
  • One weapon frame exists for each weapon using Advanced Cooperative Rifle Engagement Orientation Analysis Method.
  • weapon frame also implies a helmet frame — that is similar calculations are used to determine the helmet frame.
  • helmet frame that is similar calculations are used to determine the helmet frame.
  • boreline in the context of determining trajectories has no analogy in the context of helmet orientation because helmet orientation is only concerned with determining a field of vision, not trajectories.
  • Socket frame A right-hand Cartesian coordinate frame called the
  • the socket frame is a mathematical construct.
  • the x-axis of the socket frame extends forward from the wearer of the socket assembly.
  • the y-axis extends to the right of the wearer if the observer is looking at the back of the wearer.
  • the z-axis extends down parallel to local gravity.
  • Terrain frame A right-hand Cartesian co-ordinate frame with an origin at the location of the ball element center point when it is positioned in the socket is provided. Like the weapon frame, the terrain frame is a mathematical construct. The terrain frame is parallel to the shared frame; however, it does not share an origin with the shared frame. One terrain frame exists for each weapon using the Advanced Cooperative Rifle Engagement Orientation Analysis Method. The origins of the weapon frame, socket frame, and terrain frame are all located at the same position. The three frames differ only in their orientation relative to each other.
  • Shared frame A right hand Cartesian co-ordinate frame shared by all systems in a given area is provided.
  • the shared frame is essentially the map frame.
  • the origin of this frame is determined when ever the Advanced Cooperative Rifle Engagement Orientation Analysis Method is used.
  • the xy plane of this frame is perpendicular to local gravity.
  • the x- axis extends north from the origin.
  • the y-axis extends east, and the z-axis extends down, parallel to local gravity.
  • Virtual Bore Line a mathematical representation of the weapon's bore line, is calculated. Being a line in three dimensional space, the bore line is completely defined by any two points it contains.
  • the chamber of the weapon and its muzzle are used, as both are known in weapon reference frame.
  • the point representing the chamber serves as the start point of a vector extending through the muzzle point to infinity.
  • this vector is output directly from the universal location module. No manipulation is done to alter the x, y, or z values of Pbe-shared, but the information is stored for use later in the algorithm.
  • the universal location module describes the orientation of the socket frame relative to the terrain with the heading ⁇ s -t, inclination ⁇ s -t, and roll Ys-t.
  • the orientation of the socket frame relative to the terrain frame may also be calculated using a 3X3 rotation matrix
  • Equation 2 Equation 2
  • the virtual bore line is defined by the weapon chamber and muzzle.
  • the chamber is represented in the weapon frame with (x -w, Vc- , z c - w ), and the muzzle is represented in the weapon frame with (x m -w / ym-w, z m -w).
  • Pweapon describes the position of the chamber and muzzle in the weapon frame according to Equation 3:
  • the chamber and muzzle points are added to the position of the center of the ball element in the shared frame (xbe-shared, ybe-shared, Zbe-shared) as shown in Equation 5:
  • the elevation of the weapon relative to the ground is calculated with a two step process.
  • the coordinates of the point (1, 0, 0) in the weapon frame are determined in the terrain frame (xterrain, yterrain, ztena-n) with Equation 6:
  • the second step is to find the weapon elevation relative to the ground with the Equation 7:
  • Elevation is defined such that a positive value implies the weapon is pointed above the horizontal. A negative value says the weapon is pointed below the horizontal. Elevation is constrained to the range of
  • X terrain 0 terrain A. weapon- ⁇ terrain 0 7 ⁇ terrain 1
  • the cant and elevation of the weapon relative to the terrain frame is now used to reference the trajectory models. These models calculate, for the weapon frame, discrete points along the trajectory of the projectile given initial weapon elevation and cant. These models are specific to a single weapon and projectile type pairing, and they include considerations for local gravity intensity ? and weather.
  • Equation 11 weapon • • • • yn-w ⁇ 1-—wt> ⁇ 2 — w 'n—w [0182]
  • This matrix is then multiplied by the Aweapon ⁇ terrain matrix (derived in step 7.5.2.4) to rotate the points into the terrain frame with the Equation 12 in which Pterra-n describes the position of the n trajectory points in the terrain frame:
  • ACRE advanced cooperative rifle engagement
  • ACRE is a network-based distributed system comprising a plurality of individual ground combatants each equipped with a weapon and vision orientation and integration system.
  • ACRE is a virtual fighting environment in the service of ground combatants during actual close combat. The system enables a first-person-perspective immersive
  • the core ACRE functionality is the effect produced when
  • vision orientation and weapon orientation are tracked, paired, and shared
  • the ACRE Method encompasses both the hardware for actually
  • ACRE is a virtual fighting
  • ACRE provides simulation of an environment that is experienced by a human operator in addition to the naturally sense world.
  • ACRE is an integrated fire control system which combines weapon laying and firing data, primarily using electronic means assisted by electromechanical devices.
  • the process of analyzing an enemy situation, selecting targets and matching the appropriate response to them is generally inappropriate at the rifle unit level.
  • the "appropriate response" is computed by the minds of the ground combatants involved.
  • the ACRE system merely assists that decision-making process by allowing users to visualize the effects of their weapon systems on the terrain in which they are fighting.
  • An ACRE capability is fully interoperable with other battlefield management systems which may or may not be targeting systems.
  • ACRE depends on a tactical infosphere which is a distributed system consisting of a collection of autonomous computers linked by a wireless network and equipped with distributed system software. This software enables computers to coordinate their activities and to share the resources of the system hardware, software, and data. Users of the distributed system perceive a single, integrated computing facility even though it may be implemented by many computers in different locations. In a preferred embodiment the ACRE system is transparent to the user.
  • the fidelity and latency of the ACRE system is dependent on the performance of its "trackers," such as for example, each combatant contributing weapon, and or helmet orientation information.
  • a major input to the ACRE system is head and weapon orientation information available through the self-orienting weapon and helmet mounting system discussed herein.
  • Additional input devices may include, other "active sensors” for the ACRE virtual environment including the Universal Location Module. Any combination of "trackers" that sufficiently supply the location in space and orientation of a ground combatant in real time may serve as ACRE system inputs.
  • ACRE functionality is predicated on five prerequisites: weapon and vision and orientation, tactical infosphere, micro-terrain coordinate frame, geolocational accuracy and georectifed augmented reality displays.
  • weapon and vision orientation system is fundamental to ACRE as it provides the distributed system with the field of view and virtual boreline of each combatant contributing to the system.
  • the tactical infosphere refers to the information network superimposed on the battlefield environment.
  • BMC 4 I the term "Battle Management Command, Control, Communications, Computers, and Intelligence" or BMC 4 I was established to describe an integrated system to basically enhance one source of combat power - leadership. What shortly followed was the advent of a tactical infosphere. It is a distributed network of BMC 4 I systems linking information databases and fusion centers. In the first decade of the 21 st Century, network-centric wireless war fighting systems are in development. In time, mobile ad hoc digital communications combined with superior processing technology is expected to render fully capable tactical infospheres.
  • the digital radio and wearable computer provide the interface for the individual ground combatant to a future rifle unit's tactical infosphere. For the ground combatant, reporting and pulling data from various sensors to create a real-time or near real-time situational awareness picture will increase his lethality and effectiveness.
  • an intelligence preparation of the battlefield process must first determine and mark exact locations as points of reference. In turn, rapid reporting and plotting of these points in the ACRE virtual environment is possible. This involves measuring the geometric quantities of the battlespace with satellite or drone imaging to a degree that will produce a suitable microterrain model [0194]
  • precise combatant location information must be available to provide the reference from which vision and weapon orientation are determined. In the context of this application this is performed by the universal location module. The current state-of-the-art in position finding of self-reporting body-worn instruments is inferior for ACRE purposes.
  • Other possible location determining technologies include geodonation whereby cross-cueing, or georeferencing of friendly entities or artifacts is continuously performed within the network. All friendly actors will proactively donate their positions, through a variety of means, to each other.
  • geodonation a "line of observation” is the line from a position finder to a target at the exact time of a recorded observation. This phenomenon of unremitting, incessant, proactive donation of location, or "geodonation”, is running constantly in the background of a BMC 4 I system which is hosting the ACRE System.
  • Rangefinder technology specifically laser in the contemporary sense, is a key component of geodonation. Given a robust and timely tactical infosphere, the range between multiple sensors and the present positions of their geo-located entities may be compiled and processed. In various embodiments, when not engaged in enemy-oriented taskings, unmanned vehicles will default to rangefinding taskings. Location sharing will be carried out by separate fleets of "pos/nav" robots, thereby aggressively filling in gaps in the force's position states. The ACRE virtual environment is consequently updated, making it possible to plot distances and directions in real time.
  • the state of the natural environment is of critical geolocational concern.
  • Meteorological sensors supporting the rifle unit perhaps on dedicated unmanned air vehicles, will survey the operating environment.
  • Values critical to an ACRE capability such as range wind (the horizontal component of true wind in the vertical plane through a ballistic trajectory), temperature and barometric pressure, will be accumulated and supplied to the tactical infosphere.
  • range wind the horizontal component of true wind in the vertical plane through a ballistic trajectory
  • temperature and barometric pressure will be accumulated and supplied to the tactical infosphere.
  • the final technological prerequisite to the ACRE system is the georectified augmented reality display. In a preferred embodiment this is a helmet- mounted display.
  • mobile information displays are text-based and use 2-D imaging. Having to hold displays in the hand is sub-optimal for a combatant because his hands need to remain free to operate his rifle.
  • the ACRE capability is based on advanced, mobile, geo-rectified Augmented Reality (AR) viewed with individual ground combatant helmet mounted displays.
  • AR Augmented Reality
  • An ACRE augmented reality application will require graphics to be precisely aligned with the environment. Consequently, an accurate tracking system and a detailed model of the environment are required.
  • Today, constructing these models is an extremely challenging task as even a small error in the model (order of tens of millimeters or larger) can lead to significant errors that dilute the effectiveness of an ACRE augmented reality system.
  • Today, developing detailed synthetic models of ground combatant environments for mobile augmented reality systems is an immature art. Significant progress in mobile augmented reality is expected, such as, for example, a wrap-around, 180-degree, see-thru augmented reality-helmet mounted display.
  • Such a display employing a ball-and-socket-based helmet vision tracking device incorporates an opaque liquid-crystal display to simulate the ACRE virtual environment with a three-dimensional sensation of depth.
  • the data from the augmented reality helmet- mounted display is additionally imparted.
  • the wearer operates in the real world with added capability from the augmented reality helmet-mounted display.
  • the angle of traverse that is, the angle through which the weapon is traversed, angle of elevation and angle of cant
  • the barrel whip that is, the movement of a gun barrel in a plane normal to the longitudinal axis of the gun bore, as the gun operates through a complete firing cycle, may also be provided by the self-orienting weapon mounting system.
  • the ACRE system stores information to generate ballistic virtual objects.
  • the ACRE system operates a database of firing tables, that is data necessary to model the firing of a weapon, range tables, that is tables that give elevations corresponding to ranges for a gun or other weapon, under various conditions, range probable error, that is a subset of a firing table describing the range error caused by dispersion that will be exceeded as often as not in an infinite number of rounds fired at the same elevation and is one-eighth of the length of the dispersion pattern at its greatest length, and elevation tables, that is a portion of a firing table giving a list
  • the ACRE system retains a
  • processing engine capable of deriving deflection, elevation, range and
  • a degree of deflection error remains
  • Dispersion error that is, the chance variation in a series of shots
  • a degree of dispersion error remains, and is accounted for
  • a ballistic virtual objects, or BVOs are predictive augmented reality artifacts that allow individuals or groups to understand the effects of one or more weapon systems in a simulation before they are discharged.
  • the ACRE system includes a calculation for deflection.
  • the horizontal clockwise angle between the axis of a bore and the augmented reality display's line of sighting must compensate for deflection.
  • the deflection angle is the angle of a deflection shot in gunnery, measured between the line of sight to the target and the line of sight to the aiming point.
  • BVOs also account for the line of departure, or direction of a projectile at the instant it clears the muzzle of the gun.
  • BVOs are georectified.
  • Georectification is the process of referencing points on an image to the real world coordinates.
  • AR-HMD Augmented Reality Helmet Mounted Display
  • extremely sophisticated graphics engines will be developed to provide georectified information on head movements for updating visual images.
  • These images are the ACRE graphics, or BVOs.
  • BVOs will preferably be computer-generated three-dimensional pictures or symbols.
  • the scale of ACRE graphics will be exactly proportional to the naked eye views experienced by the wearer.
  • the ACRE system includes meteorological check points.
  • the meteorological check points are provided by sensors within the rifle unit's organizational equipment. They are arbitrarily selected points for which meteorological sampling is
  • a meteorological correction is an adjustment made in the firing
  • the BVOs can be expected to alter their
  • VBL virtual boreline
  • a virtual trajectory is a model of the
  • VCOF virtual cone of fire
  • VPAPI is a computer-aided aiming point, being a model of a point on
  • VPAPI is a model
  • VMO maximum ordinate
  • the virtual beaten zone (VBZ) is a
  • the virtual fields of fire is a model of a cone of dispersion, that is, the predicted pattern in space formed by recorded phenomena from point sources (shots on a target) from the same weapon that spread out in conical form.
  • the virtual dead space is a model of area within the ACRE virtual environment with the following characteristics: it is area within the maximum range of weapons which cannot currently be covered by fire or observation, based on weapon and helmet orientation respectively, from any friendly weapon or sensor position because of intervening obstacles, originating from the nature of the ground, or the characteristics of the trajectory, or the limitations of the pointing capabilities of the weapons.
  • the virtual minimum safe distance is a virtual object representing the minimum distance from the modeled ground zero of a munition.
  • the virtual blast radius is a model of a spherical error probable (SEP) or radius of a sphere within which the munition is expected to explode and harm occupants 50% of any given instances.
  • ACRE may also be used to support logistics and supply. For example, by collecting round counting
  • round counting systems such as, for example, the "Accu-Counter” device manufactured by Accu-Counter Technologies Inc., Crestview Hills, KY, are known in the art.
  • the round counting system is unobtrusive and tied into the ACRE data upload platform and operates continuously and in a manner that is transparent to the ground combatant.
  • the WOASI- L&S counting system is unseen by the operator and functions without operator interface (with no on /off button, for instance).
  • this round counting information is automatically pushed to the ACRE system along with weapon and /or helmet orientation information. However, in various other embodiments, this information may be selectively pulled on demand by the ACRE system.
  • the ACRE system provides the functionality for yet another embodiment of this invention.
  • a ball-and-socket-based tactile feedback system for a weapon is provided.
  • the system premised on the fact that a combatant's weapon boreline and/or visual field of view are known, that the combatant's manual grip on his/her weapon can be used as means of providing haptic feedback to correct or even direct behavior.
  • haptic or “haptics” will refer to any type of tactile or cutaneous feedback supplied to a combatant through his weapon in response to the orientation of his weapon and/or his field of vision.
  • this is accomplished through an individual fire control feedback method in which a combatant is provided with haptic feedback based on the orientation of his weapon.
  • This haptic feedback may be used to prevent particular behavior, such as for example, as weapon orientation that runs the risk of fratricide. Fratricide or "friendly fire" is problem in nearly all combat environments due to the fast-paced,
  • Fratricide is by
  • fratricide can be prevented by sending a
  • the vibrating signal will indicate to the combatant
  • the haptic alert is dynamic in
  • transmission of the haptic alert signal to the weapon ball stock is facilitated through the existing two-way communication protocol between the receiving socket and ball element of the ball stock.
  • the vibrating device is located in the receiving socket, in the ball element, in the axis, or even elsewhere on the weapon, such as, for example, on the weapon grip.
  • a connector will connect the alert to a portion of the ball stock near the butt end of the weapon.
  • haptic alert system as described herein has been characterized as a vibrating-type alert system.
  • vibration should be understood to refer to shaking, clicking, rumbling, or other force feedback type that is detectable through the combatant's grip on the weapon.
  • the haptic alert system will be triggered when the ground combatant rotates his weapon within the socket into a vector that has the potential of fratricide.
  • the haptic alert system may activate if the combatant simply rotates his body in a such a manner that his weapon has a virtual code of fire that has the potential for fratricide.
  • various embodiments of the invention may respond to both rotation and motion, as natural human motion of a combatant will likely involve both.
  • the haptic alert system may be used to induce behavior. For example, if a ground combatant is sweeping a target area, the haptic alert system may be used to "direct" the combatant to a particular orientation likely to provide a firing opportunity on an enemy target. In such an embodiment the haptic alert system will be used to inform ground combatant that he is "looking in the right direction.” In another example, haptic alerts or haptic feedback may be used to assist a ground combatant in adjusting fire on a target.
  • a ball-and-socket-based tactual force feedback system for a weapon in addition to providing haptic feedback, at least a portion of a ball-and- socket-based robotic joint is used in weapon ball stock in place of the axis in order to provide directed articulation of the weapon.
  • the robotic joint could be used to "push" the weapon or provide a rotating force intended to induce the combatant to alert the weapon's boreline to avoid potential damages to comrades or friendly equipment.
  • the ball-and-socket-based tactual force feedback system for a weapon may also be used to replicate current marksmanship behaviors. Utilizing control of the robotic joint connecting the combatant
  • a person may be "trained" in marksmanship techniques.
  • observing instructor or coach may interface with the user's ball-and-
  • the ball-and-socket-based tactual feedback system improves weapon
  • Tactual displays that communicate to a user through
  • the ball-and-socket-based the tactual feedback system also improves combat effectiveness. Tactile information is salient, intuitive, and greatly enhances existing visual /auditory interfaces in situations where visual /auditory channels are heavily loaded. Performance in combat situations generating heavy cognitive load conditions is believed to be improved by appealing to the human sense of touch.
  • the tactual feedback system thus contributes to increased performance by ground combatants wearing advanced bodyworn systems.
  • the tactual feedback system offers the bodyworn system a means to issue feedback to multiple senses in concert to improve the use of the high bandwidth that humans are capable of processing in real interactions.
  • the tactile information displayed is effectively used with little training on the user's part.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

L'invention concerne un système de support d'arme sphéroïde qui permet de fixer amovible une arme sur le corps de l'utilisateur. Une rotule adaptée pour être fixée à une arme par une extrémité et configurée avec un élément à bille sensiblement rond sur l'autre extrémité remplace la crosse d'arme classique. La rotule vient en contact avec un support porté par le corps qui est adapté pour recevoir l'élément rotule par cliquetis dans le support. L'utilisateur peut articuler l'arme en position de repos ou la faire pivoter dans une amplitude maximale d'élévation et d'orientations de balayage.
PCT/US2005/004566 2004-02-13 2005-02-14 Rotule d'arme avec systeme d'orientation d'arme integre Ceased WO2005079352A2 (fr)

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