I am an avid lucid dreamer who can achieve lucidity almost every night. However, thinking about dreaming can wake me up. To re-enter my dream, I focus on a void inside my brain, and only focus on that one thing. I then experience a sensation akin to leaning over a tall structure, causing my stomach to drop. This method allows me to transfer back into the dream with all senses activated, but the stomach drop hurts a considerable much. It sure is strange 
but it allows me to re enter lucidity. Does anybody know what this is, or have similar experiences?
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