Patent Publication Number: US-2023156335-A1

Title: Sensor shifting module and camera module including the same

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit under 35 USC 119(a) of Korean Patent Application No. 10-2021-0159648 filed on Nov. 18, 2021, in the Korean Intellectual Property Office, the entire disclosure of which is incorporated herein by reference for all purposes. 
     BACKGROUND 
     1. Field 
     The present disclosure relates to a method of implementing optical image stabilization by driving an image sensor. 
     2. Description of the Background 
     With the development of communications technology, mobile devices such as smartphones may be widely distributed, and accordingly, functions of a camera included in mobile devices may be in increasing demand. For example, a camera included in a mobile device may be designed to provide advanced imaging functions (e.g., an auto-focus function, an anti-shake function, and the like) implemented in a general digital single-lens reflex camera (DSLR) camera despite a small size thereof. 
     The optical image stabilization (OIS) function may be to prevent image blur occurring when a camera is shaken during the exposure time, and the OIS function may be necessary when imaging in low-light environment in which a camera is shaken and the exposure time is relatively long. The OIS may include digital IS (DIS), electronic IS (EIS), and optical IS (OIS). Among these functions, optical IS (OIS) may fundamentally prevent image deterioration caused by shaking by correcting an optical path by moving a lens or image sensor in a direction orthogonal to the optical axis. Since a mechanical actuator is necessary, it may be complicated to be implemented as a device, and although relevant costs are expensive, excellent compensation performance may be obtained. 
     A lens barrel may include an optical system therein, such that a relatively large amount of force may be required to drive the lens barrel. Since an image sensor is relatively light, it may be advantageous to implement an excellent optical image stabilization (OIS) function even with a relatively small amount of force. 
     A camera employed in a mobile device may mainly provide a shaking correction function of preventing only the shaking in a direction orthogonal to an optical axis when obtaining an image. Mobile devices may be used to obtain videos, and accordingly, it may be necessary to move an image sensor in more various directions to correct shaking in a more dynamic environment. 
     The above information is presented as background information only to assist with an understanding of the present disclosure. No determination has been made, and no assertion is made, as to whether any of the above might be applicable as prior art with regard to the disclosure. 
     SUMMARY 
     This Summary is provided to introduce a selection of concepts in simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. 
     In one general aspect, a sensor shifting module includes a fixed body, a first body movably disposed in the fixed body, a second body movably disposed in the first body and coupled to an image sensor having an imaging plane facing a first direction, a first driver configured to move the second body in a direction orthogonal to the first direction with respect to the first body, a second driver configured to rotate the second body about an axis parallel to the first direction with respect to the first body, and a third driver configured to rotate the first body about an axis orthogonal to the first direction with respect to the fixed body, wherein the third driver includes a tilt guide ball disposed between the fixed body and the first body and to provide a tilt center for the first body. 
     The first driver may include a first actuator disposed between the first body and the second body, and the first actuator may include a first driving magnet disposed on the second body, and a first driving coil disposed on the first body to oppose the first driving magnet in a direction orthogonal to the first direction. 
     The second driver may include a second actuator disposed between the first body and the second body, and the second actuator may include a second driving magnet disposed on the second body, and a second driving coil disposed on the first body to oppose the second driving magnet in a direction orthogonal to the first direction. 
     The second body may have four side surfaces forming a quadrangular shape, and the first driving magnet and the second driving magnet may be disposed on different side surfaces among the four side surfaces. 
     The second body may have a first side surface and a second side surface forming a corner, and the second driving magnet may be disposed on the first side surface or the second side surface and may be disposed adjacent to the corner. 
     The third driver may include a third actuator disposed between the first body and the fixed body, and the third actuator may include a third driving magnet disposed on the second body, and a third driving coil disposed on the fixed body to oppose the third driving magnet in the first direction. 
     The third driving magnet may be the first driving magnet or the second driving magnet. 
     The third driver may include a first magnetic member and a second magnetic member disposed on the fixed body and the first body, respectively, and opposing each other in the first direction. 
     The sensor shifting module may further include a substrate mechanically connecting the second body to the first body and being deformed according to movement of the second body with respect to the first body. 
     The substrate may include electrical wirings electrically connected to the image sensor. 
     The substrate may include a movable portion fixedly coupled to the second body, a fixed portion fixedly coupled to the first body, and a supporting portion interconnecting the movable portion and the fixed portion, and the supporting portion may include a plurality of bridges having the electrical wirings embedded therein 
     The supporting portion may include a guide disposed between the movable portion and the fixed portion and connected to the movable portion and the fixed portion through the plurality of bridges. 
     A camera module may include the sensor shifting module, and a lens module including at least one lens, wherein light incident through the at least one lens falls on the imaging plane. 
     In another general aspect, a camera module includes a lens module including at least one lens, and a sensor shifting module, wherein the sensor shifting module includes a fixed body, a first body movably disposed in the fixed body, a second body movably disposed in the first body and coupled to an image sensor having an imaging plane facing a first direction, a first driver configured to move the second body in a direction orthogonal to the first direction with respect to the first body, a second driver configured to rotate the second body about an axis parallel to the first direction with respect to the first body, a third driver configured to rotate the first body about an axis orthogonal to the first direction with respect to the fixed body, and a substrate mechanically connecting the second body to the first body and being deformed according to movement of the second body with respect to the first body. 
     The substrate may include a movable portion fixedly coupled to the second body, a fixed portion fixedly coupled to the first body, and a supporting portion interconnecting the movable portion and the fixed portion, and the supporting portion may include a plurality of bridges having electrical wirings electrically connected to the image sensor embedded therein. 
     The third driver may include a third actuator disposed between the first body and the fixed body, and the third actuator may include a third driving magnet disposed on the second body, and a third driving coil disposed on the fixed body to oppose the third driving magnet in the first direction. 
     The first driver or the second driver may include a driving coil and a driving magnet opposing each other in a direction orthogonal to the first direction, and the driving magnet may be the third driving magnet. 
     In another general aspect, a sensor shifting module includes a first body, a second body disposed on the first body, an image sensor disposed on the second body and comprising an imaging plane facing a first direction, a first driver configured to translate the second body in a direction orthogonal to the first direction with respect to the first body, a second driver configured to rotate the second body about an axis parallel to the first direction with respect to the first body, and a third driver configured to rotate the first body about an axis orthogonal to the first direction with respect to a fixed body. 
     The sensor shifting module may further include a tilt guide ball disposed between the first body and the fixed body, wherein the first body may be configured to rotate about the axis orthogonal to the first direction on the tilt guide ball, and a substrate mechanically connecting the second body to the first body and being deformed according to movement of the second body with respect to the first body. 
     A camera module may include the sensor shifting module, and a lens module including at least one lens, wherein light incident through the at least one lens may fall on the imaging plane in the first direction. 
     Other features and aspects will be apparent from the following detailed description, the drawings, and the claims. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a diagram illustrating components included in a camera module according to an example embodiment of the present disclosure. 
         FIG.  2 A  is a diagram illustrating a sensor shifting module according to an example embodiment of the present disclosure. 
         FIG.  2 B  is a diagram illustrating actuators included in an OIS driving unit according to an example embodiment of the present disclosure. 
         FIG.  2 C  is a diagram illustrating a pulling member between a first movable body and a fixed body according to an example embodiment of the present disclosure. 
         FIG.  3    is a diagram illustrating a substrate on which an image sensor is mounted according to an example embodiment of the present disclosure, viewed from above. 
         FIGS.  4 A and  4 B  are diagrams illustrating arrangement of a first OIS driver and a second OIS driver according to an example embodiment of the present disclosure. 
         FIGS.  5 A and  5 B  are diagrams illustrating movement of a second movable body due to a first OIS driver. 
         FIGS.  6 A and  6 B  are diagrams illustrating rolling of a second movable body due to a second OIS driver. 
         FIGS.  7 A and  7 B  are diagrams illustrating tilting of a first movable body due to a third OIS driver. 
         FIGS.  8 A,  8 B,  8 C, and  8 D  are diagrams illustrating deformation of a substrate according to movement of a movable body. 
     
    
    
     Throughout the drawings and the detailed description, the same reference numerals refer to the same elements. The drawings may not be to scale, and the relative size, proportions, and depiction of elements in the drawings may be exaggerated for clarity, illustration, and convenience. 
     DETAILED DESCRIPTION 
     Hereinafter, while example embodiments of the present disclosure will be described in detail with reference to the accompanying drawings as follows, it is noted that examples are not limited to the same. 
     The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatuses, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of this disclosure. For example, the sequences of operations described herein are merely examples, and are not limited to those set forth herein, but may be changed as will be apparent after an understanding of this disclosure, with the exception of operations necessarily occurring in a certain order. Also, descriptions of features that are known in the art may be omitted for increased clarity and conciseness. 
     The features described herein may be embodied in different forms, and are not to be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many possible ways of implementing the methods, apparatuses, and/or systems described herein that will be apparent after an understanding of this disclosure. 
     Herein, it is noted that use of the term “may” with respect to an example or embodiment, e.g., as to what an example or embodiment may include or implement, means that at least one example or embodiment exists in which such a feature is included or implemented while all examples and examples are not limited thereto. 
     Throughout the specification, when an element, such as a layer, region, or substrate is described as being “on,” “connected to,” or “coupled to” another element, it may be directly “on,” “connected to,” or “coupled to” the other element, or there may be one or more other elements intervening therebetween. In contrast, when an element is described as being “directly on,” “directly connected to,” or “directly coupled to” another element, there can be no other elements intervening therebetween. 
     As used herein, the term “and/or” includes any one and any combination of any two or more of the associated listed items; likewise, “at least one of” includes any one and any combination of any two or more of the associated listed items. 
     Although terms such as “first,” “second,” and “third” may be used herein to describe various members, components, regions, layers, or sections, these members, components, regions, layers, or sections are not to be limited by these terms. Rather, these terms are only used to distinguish one member, component, region, layer, or section from another member, component, region, layer, or section. Thus, a first member, component, region, layer, or section referred to in examples described herein may also be referred to as a second member, component, region, layer, or section without departing from the teachings of the examples. 
     Spatially relative terms, such as “above,” “upper,” “below,” “lower,” and the like, may be used herein for ease of description to describe one element&#39;s relationship to another element as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, an element described as being “above,” or “upper” relative to another element would then be “below,” or “lower” relative to the other element. Thus, the term “above” encompasses both the above and below orientations depending on the spatial orientation of the device. The device may also be oriented in other manners (for example, rotated 90 degrees or at other orientations), and the spatially relative terms used herein are to be interpreted accordingly. 
     The terminology used herein is for describing various examples only, and is not to be used to limit the disclosure. The articles “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “includes,” and “has” specify the presence of stated features, numbers, operations, members, elements, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, members, elements, and/or combinations thereof. 
     Due to manufacturing techniques and/or tolerances, variations of the shapes illustrated in the drawings may occur. Thus, the examples described herein are not limited to the specific shapes illustrated in the drawings, but include changes in shape occurring during manufacturing. 
     In the example embodiments, the X-direction, the Y-direction, and the Z-direction may refer to a direction parallel to the X axis, a direction parallel to the Y axis, and a direction parallel to the Z axis, respectively, in the drawings. Also, unless otherwise indicated, the X-direction may include both the +X-axis direction and the −X-axis direction, which may also apply to the Y-direction and the Z-direction. 
     In the example embodiments, two directions (or axes) are parallel to each other may also include the examples in which the two directions (or axes) are substantially parallel to or substantially side by side to each other. In the example embodiments, two directions orthogonal to each other may also include the examples in which the two directions (or axes) are substantially perpendicular to or substantially 90 degrees to each other. For example, the configuration in which the first axis and the second axis are orthogonal to each other may indicate that the first axis and the second axis may form an angle of 90 degrees or approximate to 90 degrees. 
     “An example embodiment” does not necessarily indicate the same example embodiments. The particular features, structures, or characteristics may be combined in any suitable manner consistent with the example embodiments. 
     In the example embodiments, “configured to” may indicate that a component may include a structure necessary to implement a function. 
     The features of the examples described herein may be combined in various manners as will be apparent after gaining an understanding of this disclosure. Further, although the examples described herein have a variety of configurations, other configurations are possible as will be apparent after gaining an understanding of this disclosure. 
     One or more example embodiments of the present disclosure may enable a camera to provide an effective optical image stabilization function with low power, and to provide an improved shaking correction function by driving an image sensor in various directions. 
     1. Camera Module 
       FIG.  1    is a diagram illustrating components included in a camera module  1  according to an example embodiment. 
     In an example embodiment, the camera module  1  may include a lens module  20  including at least one lens  21  and a lens barrel  22  accommodating the at least one lens  21 , and an image sensor  11 . Light L may pass through the lens module  20  and may reach an imaging plane of the image sensor  11 . The camera module  1  may include an AF driver  23  which may move the lens module  20  in an optical axis direction to adjust a focal length. The AF driver  23  may include, for example, a coil and a magnet opposing each other. The coil may be fixedly coupled to the lens module  20 , the magnet may be coupled to a fixed body such as a housing, and electromagnetic interaction between the coil and the magnet may allow the lens module  20  to move in the optical axis direction. 
     In an example embodiment, the camera module  1  may provide an optical image stabilization (hereinafter, “OIS”) function. The camera module  1  may provide an OIS function by driving the image sensor  11 . For example, the camera module  1  may include an OIS driver  12  configured to move the image sensor  11  in a direction orthogonal to the optical axis, and/or to rotate the image sensor  11  about an axis parallel to the optical axis and/or about an axis orthogonal to the optical axis. 
     In an example embodiment, the camera module  1  may include a sensor shifting module  10 . The sensor shifting module  10  may include components necessary to implement the OIS function by driving the image sensor  11 . For example, the sensor shifting module  10  may include the image sensor  11  and the OIS driver  12  for driving the image sensor  11 . As another example, the sensor shifting module  10  may refer to only the OIS driver  12  excluding the image sensor  11 . 
     In an example embodiment, the camera module  1  may further include an optical element in addition to the lens module  20  and the image sensor  11 . In an example embodiment, the camera module  1  may include two or more lens modules. For example, the first optical element  30  and/or the second optical element  40  may be a lens module distinct from the lens module  20 . 
     In an example embodiment, the camera module  1  may include an optical path changing element disposed in front of the lens module  20 . For example, the first optical element  30  may be implemented as a prism or a mirror. In another example embodiment, the optical path changing element may be disposed between the image sensor  11  and the lens module  20 . For example, the second optical element  40  may be implemented as a prism or a mirror. 
     Hereinafter, the sensor shifting module  100  described with reference to  FIGS.  2 A to  8 D  may be applied to the camera module  1  in  FIG.  1   . 
     2. Sensor Shift 
       FIG.  2 A  is a diagram illustrating a sensor shifting module  100  according to an example embodiment.  FIG.  2 B  is a diagram illustrating actuators included in an OIS driver according to an example embodiment.  FIG.  2 C  is a diagram illustrating a pulling member between a first movable body and a fixed body according to an example embodiment. 
     The sensor shifting module  100  may include an OIS driver. The OIS driver may include at least one of a first OIS driver, a second OIS driver, and a third OIS driver, which will be described later. The first OIS driver may move the image sensor  111  in a direction orthogonal to the optical axis, the second OIS driver may rotate the image sensor  111  about an axis parallel to the optical axis, and the third OIS driver may rotate the image sensor  111  about an axis orthogonal to the optical axis. 
     The OIS driver  12  of the camera module  1  in  FIG.  1    may include at least one of the first OIS driver, the second OIS driver, and the third OIS driver. 
     2.1. Translation+Rolling OIS 
     2.1.1. Structure 
     The sensor shifting module  100  may include a first OIS driver for driving the image sensor  111 . In an example embodiment, the sensor shifting module  100  may include a second movable body  110  including an image sensor  111  and a first movable body  130  carrying the second movable body  110 . The second movable body  110  may be movably disposed in the first movable body  130 . The second movable body  110  may be configured to move together with the image sensor  111 . For example, the second movable body  110  may include a sensor substrate  112  on which the image sensor  111  is mounted and a sensor holder  113  coupled to the sensor substrate  112 . The second movable body  110  may move in a direction orthogonal to the optical axis with respect to the first movable body  130  by the first OIS driver. 
     Referring to  FIG.  2 A , the sensor holder  113  may include a plate  113   a  connected to the lower portion of the sensor substrate  112 , and an extension portion  113   b  extending from an edge of the plate  113   a  to the upper portion (in the +Z-direction). The extension portion  113   b  may oppose the coils  122  and  152 , and the magnets  121 ,  151 , and  161  may be seated on the extension portion  113   b.    
     A signal of the image sensor  111  may be transmitted to another electronic component (e.g., an image signal processor (ISP)) through the sensor substrate  112  and a connector. 
     The first movable body  130  may include a base  131  and components fixedly coupled to the base  131 . For example, the first movable body  130  may include a driving magnet  121  of a first OIS driver and a driving magnet  151  of a second OIS driver, which will be described later. 
     In an example embodiment, the sensor shifting module  100  may include a first OIS driver for moving the image sensor  111  in a direction orthogonal to the optical axis O. The second movable body  110  may, through the first OIS driver, move in a direction orthogonal to a direction in which the imaging plane  111   a  of the image sensor  111  is directed with respect to the first movable body  130 . In an example embodiment, the first OIS driver may correct the shaking of the camera module  1  or the electronic device on which the image sensor  111  is mounted in a direction orthogonal to the optical axis O. In an example embodiment, the first OIS driver may move the image sensor  111  in a first direction and a second direction orthogonal to the optical axis O. The first direction and the second direction may intersect each other. For example, when the optical axis O is in the Z-direction, the first OIS driver may move the second movable body  110  in the X-direction and/or the Y-direction orthogonal to the Z axis (optical axis direction), thereby correcting the shaking in the X-direction and/or the Y-direction. 
     In the example embodiment, the direction in which the imaging plane  111   a  of the image sensor  111  is directed may be referred to as an optical axis O direction. That is, the second movable body  110  may move in a direction orthogonal to the optical axis O with respect to the first movable body  130 . In the drawings, the optical axis O may be parallel to the Z axis, and accordingly, the Z-direction may refer to a direction parallel to the optical axis O. Also, the X-direction or the Y-direction may refer to a direction orthogonal to the optical axis O. For example, in the example embodiment, the configuration in which the second movable body  110  moves in the X-direction may indicate that the second movable body  110  may move in a direction orthogonal to the optical axis O. For another example, the configuration in which the driving magnet  121  and the driving coil  122  oppose each other in the X-direction may indicate that the driving magnet  121  and the driving coil  122  oppose each other in a direction orthogonal to the optical axis O. Also, the X-direction and the Y-direction may be an example of two directions orthogonal to the optical axis and intersecting each other, and in the example embodiment, the X-direction and the Y-direction may be configured as two directions orthogonal to the optical axis O and intersecting each other. 
     In an example embodiment, the sensor shifting module  100  may include a second OIS driver for rotating the image sensor  111  about an axis parallel to the optical axis O. The second movable body  110  may, through the second OIS driver, rotate with respect to the fixed body  170  about an axis parallel to the direction in which the imaging plane  111   a  of the image sensor  111  is directed. In an example embodiment, the second OIS driver may correct rotation of the camera module  1  or the electronic device on which the image sensor  111  is mounted about an axis parallel to the optical axis O. 
     2.1.2 First Actuator (Translation) 
     Referring to  FIGS.  2 A and  2 B , in an example embodiment, the first OIS driver may include a first actuator  120  disposed between the first movable body  130  and the second movable body  110 . In an example embodiment, the first actuator  120  may include a first driving magnet  121  coupled to the second movable body  110 , and a first driving coil  122  coupled to the first movable body  130 . For example, referring to  FIG.  2 A , in an example embodiment, the first driving coil  122  and the first driving magnet  121  may be coupled to the base  131  and the sensor holder  113 , respectively. The first driving magnet  121  and the first driving coil  122  may oppose each other in a direction (e.g., the X-direction or the Y-direction) orthogonal to the optical axis O. Electromagnetic interaction between the first driving magnet  121  and the first driving coil  122  may move the second movable body  110  in a direction orthogonal to the optical axis O with respect to the first movable body  130 . 
     The first OIS driver may include a plurality of first actuators  120 , and each of the first actuators  120  may include a first driving magnet  121  and a first driving coil  122 . For example, the first OIS driver may include a 1-1 actuator  120 - 1  disposed on the first side surface  110   a - 1  of the second movable body  110  and a 1-2 actuator  120 - 2  disposed on the second side surface  110   a - 2  of the second movable body  110 . Referring to  FIG.  2 B , a 1-1 actuator  120 - 1  may include a 1-1 driving magnet  121 - 1  and a 1-1 driving coil  122 - 1 . The 1-2 actuator  120 - 2  may include a 1-2 driving magnet  121 - 2  and a 1-2 driving coil  122 - 2 . 
     In an example embodiment, the first OIS driver may further include a yoke  123  disposed on one side of the first driving magnet  121  and/or the first driving coil  122 . The yoke  123  attached to one side of the first driving coil  122  may allow the magnetic field created by the first driving coil  122  to be concentrated in a direction toward the first driving magnet  121 . Since the yoke  123  is disposed on one side of the first driving coil  122 , the magnetic field created by the first driving coil  122  may be prevented from affecting the other electronic components or the effect of the magnetic field on the other electronic components may be reduced. The yoke  123  attached to one side of the first driving magnet  121  may allow the magnetic field created by the first driving magnet  121  to be concentrated in a direction toward the first driving coil  122 . 
     In the example embodiments, the first driving coil  122  and the first driving magnet  121  may be coupled to the first movable body  130  and the second movable body  110 , respectively, but an example embodiment thereof is not limited thereto. In another example embodiment, the first driving coil  122  and the first driving magnet  121  may be coupled to the second movable body  110  and the first movable body  130 , respectively. For example, the first driving coil  122  and the first driving magnet  121  may be coupled to the sensor holder  113  and the base  131 , respectively. 
     2.1.3 Second Actuator (Rolling) 
     Referring to  FIGS.  2 A and  2 B , in an example embodiment, the second OIS driver may include a second actuator  150  disposed between the first movable body  130  and the second movable body  110 . In an example embodiment, the second actuator  150  may include a second driving magnet  151  coupled to the second movable body  110 , and a second driving coil  152  coupled to the first movable body  130 . For example, referring to  FIG.  2 A , in an example embodiment, the second driving coil  152  and the second driving magnet  151  may be coupled to the base  131  and the sensor holder  113 , respectively. The second driving magnet  151  and the second driving coil  152  may oppose each other in a direction orthogonal to the optical axis O. Electromagnetic interaction between the second driving magnet  151  and the second driving coil  152  may rotate the second movable body  110  about an axis parallel to the optical axis O with respect to the first movable body  130 . 
     The second OIS driver may include a plurality of second actuators  150 , and each of the second actuators  150  may include a second driving magnet  151  and a second driving coil  152 . For example, the second OIS driver may include a 2-1 actuator  150 - 1  disposed on the third side surface  110   a - 3  of the second movable body  110  and a 2-2 actuator  150 - 2  disposed on the fourth side surface  110   a - 4  of the second movable body  110 . Referring to  FIG.  2 B , the 2-1 actuator  150 - 1  may include a 2-1 driving magnet  151 - 1  and a 2-1 driving coil  152 - 1 . The 2-2 actuator  150 - 2  may include a 2-2 driving magnet  151 - 2  and a 2-2 driving coil  152 - 2 . 
     In an example embodiment, the second OIS driver may further include a yoke  153  disposed on one side of the second driving magnet  151  and/or the second driving coil  152 . The yoke  153  attached to one side of the second driving coil  152  may allow the magnetic field created by the second driving coil  152  to be concentrated in a direction toward the second driving magnet  151 . Since the yoke  153  is disposed on one side of the second driving coil  152 , the magnetic field created by the second driving coil  152  may be prevented from affecting the other electronic components or the effect of the magnetic field on the other electronic components may be reduced. The yoke  153  attached to one side of the second driving magnet  151  may allow the magnetic field created by the second driving magnet  151  to be concentrated in a direction toward the second driving coil  152 . 
     In the example embodiment, the second driving coil  152  and the second driving magnet  151  may be coupled to the first movable body  130  and the second movable body  110 , respectively, but an example embodiment thereof is not limited thereto. In another example embodiment, the second driving coil  152  and the second driving magnet  151  may be coupled to the second movable body  110  and the first movable body  130 , respectively. For example, the second driving coil  152  and the second driving magnet  151  may be coupled to the sensor holder  113  and the base  131 , respectively. 
     2.1.4. PCB Spring 
     In an example embodiment, the sensor shifting module  100  may include a substrate  140  mechanically connecting the second movable body  110  to the first movable body  130 . The substrate  140  may couple the second movable body  110  to the first movable body  130  such that the second movable body  110  may move on a plane orthogonal to the optical axis with respect to the first movable body  130 . A portion of the substrate  140  may be deformed according to the movement of the second movable body  110  with respect to the first movable body  130 . That is, a portion of the substrate  140  may be flexible. When the substrate  140  is deformed, a restoring force may be created in the substrate  140 , and the restoring force may allow the second movable body  110  to return to the original position. The second movable body  110  in the equilibrium state may move with respect to the first movable body  130  as a current is applied to the first driving coil  122  or the second driving coil  152 , and when no current flows through the first driving coil  122  and the second driving coil  152 , the second movable body  110  may return to the original position by the substrate  140 . 
       FIG.  3    is a diagram illustrating a substrate on which an image sensor may be mounted according to an example embodiment, viewed from above. Referring to  FIGS.  2 A to  2 C and  3   , the substrate  140  may include a movable portion  141  (a floating portion) on which the sensor substrate  112  is seated, and a fixed portion  142  fixed to the first movable body  130 . The sensor substrate  112  and the movable portion  141  may be electrically connected to each other through solder balls at corresponding contact points P 1  and P 2 . 
     While the second movable body  110  (or the image sensor  111 ) moves relative to the first movable body  130 , the movable portion  141  may move relative to the fixed portion  142 . The substrate  140  may include a supporting portion  143  connecting the movable portion  141  to the fixed portion  142 . At least a portion of the supporting portion  143  may be deformed according to the relative movement between the movable portion  141  and the first movable body  130 . For example, the supporting portion  143  may be configured as a flexible substrate. The flexible substrate may be provided in a form in which a conductive pattern (or an electrical trace  145 ) is formed in a film formed of a polyimide material. 
     In an example embodiment, the substrate  140  may include a plurality of bridge elements  144  connecting the movable portion  141  to the fixed portion  142 . The plurality of bridge elements  144  may be included in at least a portion of the supporting portion  143 . The plurality of bridge elements  144  may be formed of a flexible material, such that the plurality of bridge elements  144  may be deformed when the movable portion  141  moves relative to the fixed portion  142 . When the second movable body  110  moves relative to the first movable body  130 , the movable portion  141  may move relative to the fixed portion  142 , and the bridge elements  144  may be deformed. A restoring force created as the bridge elements  144  are deformed may allow the second movable body  110  or the movable portion  141  to return to the original position. Each of the plurality of bridge elements  144  may include at least one electrical wiring  145 . That is, the plurality of bridge elements  144  may mechanically and electrically connect the movable portion  141  (or the second movable body  110 ) to the fixed portion  142  (or the first movable body  130 ). That is, the bridge elements  144  may support the image sensor  111  and may function as a passage through which a signal of the image sensor  111  is transmitted. 
     In an example embodiment, the substrate  140  may include a guide  146  disposed between the movable portion  141  and the fixed portion  142 . For example, the guide  146  may be provided in the form of a picture frame surrounding the movable portion  141 . The fixed portion  142 , the guide  146 , and the movable portion  141  may be connected to each other via the bridge elements  144 . For example, the substrate  140  may include a first bridge  147  extending from the movable portion  141  to the guide  146  and a second bridge  148  extending from the guide  146  to the fixed portion  142 . The first bridge  147  and the second bridge  148  may extend in a direction orthogonal to the optical axis. The first bridge  147  and the second bridge  148  may extend in directions intersecting each other. For example, the first bridge  147  may extend in the Y-direction, and the second bridge  148  may extend in the Z-direction. 
     Each of the first bridge  147  and the second bridge  148  may include one or more bridge elements  144 . In  FIG.  3   , the first bridge  147  may include four bridge elements  144  extending in the X-direction, and the second bridge  148  may include four bridge elements  144  extending in the Y-direction. The substrate  140  in  FIG.  3    may be an example, and the form of the supporting portion  143  connecting the movable portion  141  to the fixed portion  142  may be varied. For example, the supporting portion  143  may include a plurality of bridge elements  144  extending directly from the movable portion  141  to the fixed portion  142 . As another example, the first bridge  147  or the second bridge  148  may include five bridge elements  144 . The number of bridge elements  144  included in the first bridge  147  or the second bridge  148  may correspond to the number corresponding to terminals of the image sensor  111 . 
     The substrate  140  may include an electrical wiring  145  for transmitting a signal of the image sensor  111 . A plurality of bridge elements  144  included in the supporting portion  143  may embed the electrical wiring  145  therein. The image sensor  111  may be mounted on the sensor substrate  112 , and the sensor substrate  112  may be electrically connected to the fixed portion  142  of the substrate  140 . An electrical wiring  145  (electrical trace) may extend from each of the contact points P 2  formed in the movable portion  141 . The electrical wiring  145  may extend to the fixed portion  142  through the bridge element  144 . The electrical wiring  145  extending to the fixed portion may be electrically connected to another substrate or electronic component. 
       FIG.  3    illustrates the electrical wiring  145  formed on the substrate  140 , and only the electrical wiring  145  extending from a portion of the contact points is illustrated for ease of description. 
     In an example embodiment, the first OIS driver may include a first position sensor which may measure how much the second movable body  110  moves in a direction orthogonal to the optical axis O. The first position sensor may be configured as a Hall sensor or a magnetoresistive sensor. In an example embodiment, the first position sensor may be disposed in the first driving coil  122  to oppose the first driving magnet  121 . The internal portion of the coil may refer to an empty space corresponding to the winding center of the coil. In another example embodiment, the first OIS driver may include a sensing magnet distinct from the first driving magnet  121 , and the first position sensor may be disposed to oppose the sensing magnet. For example, the first position sensor and the sensing magnet may be disposed to oppose the base  131  or the substrate  140  in the optical axis direction (in the Z-direction). 
     In an example embodiment, the second OIS driver may include a second position sensor which may measure how much the second movable body  110  rotates about an axis parallel to the optical axis O. The second position sensor may be configured as a Hall sensor or a magnetoresistance sensor. In an example embodiment, the second position sensor may be disposed in the second driving coil  152  to oppose the second driving magnet  151 . In another example embodiment, the second OIS driver may include a sensing magnet distinct from the second driving magnet  151 , and the second position sensor may be disposed to oppose the sensing magnet. For example, the second position sensor and the sensing magnet may be disposed to oppose the base  131  or the substrate  140  in the optical axis direction (in the Z-direction). 
     The second position sensor may be the same component as the first position sensor. That is, one position sensor may be used to measure both translational movement (movement by the first OIS driver) and rotational movement (movement by the second OIS driver) of the second movable body. 
     2.1.4. Arrangement of Actuator 
       FIGS.  4 A and  4 B  are diagrams illustrating arrangement of a first OIS driver and a second OIS driver according to an example embodiment. 
     Referring to  FIG.  2 B ,  FIG.  4 A , and  FIG.  4 B , the second movable body  110  may include four side surfaces  110   a - 1 ,  110   a - 2 ,  110   a - 3 , and  110   a - 4  forming a quadrangular shape, and two side surfaces adjacent to each other among the four side surfaces  110   a - 1 ,  110   a - 2 ,  110   a - 3 , and  110   a - 4  may form a corner. 
     The second movable body  110  may include a first side surface  110   a - 1 , a second side surface  110   a - 2 , a third side surface  110   a - 3 , and a fourth side surface  110   a - 4  in a clockwise direction. A first corner  110   b - 1  may be formed at the boundary between the first side surface  110   a - 1  and the second side surface  110   a - 2 , a second corner  110   b - 2  may be formed at the boundary between the second side surface  110   a - 2  and the third side surface  110   a - 3 , a third corner  110   b - 3  may be formed between the third side surface  110   a - 3  and the fourth side surface  110   a - 4 , and a fourth corner  110   b - 4  may be formed between the fourth side surface  110   a - 4  and the first side surface  110   a - 1 . The side surface  110   a  of the first movable body  110  may be a side surface of the sensor holder  113 . 
     In an example embodiment, the four side surfaces  110   a - 1 ,  110   a - 2 ,  110   a - 3 ,  110   a - 4  may be parallel to the horizontal side  111   b  or the vertical side  111   c  of the image sensor  111 , and the four corners  110   b  may be disposed in the diagonal directions D 1  and D 2  of the image sensor. 
     The first actuator  120  and the second actuator  150  may be disposed on side surfaces distinct from each other among the four side surfaces  110   a - 1 ,  110   a - 2 ,  110   a - 3 , and  110   a - 4 . For example, the 1-1 actuator  120 - 1 , the 1-2 actuator  120 - 2 , the 2-1 actuator  150 - 1 , and the 2-2 actuator  150 - 2  may be disposed on the first side surface  110   a - 1 , the second side surface  110   a - 2 , the third side surface  110   a - 3 , and the fourth side surface  110   a - 4 , respectively. 
     Referring to  FIGS.  4 A and  4 B , the second actuator  150  included in the second OIS driver may be disposed adjacent to the corner  110   b  of the second movable body  110 . Since the second actuator  150  is disposed adjacent to the corner  110   b , the second movable body  110  may rotate efficiently. 
     Referring to  FIG.  4 A , the 1-1 actuator  120 - 1  and the 1-2 actuator  120 - 2  included in the first OIS driver may be disposed in the center of a first side surface  110   a - 1  and a second side surface  110   a - 2 . The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  included in the second OIS driver may be disposed on the third side surface  110   a - 3  and the fourth side surface  110   a - 4 , respectively. The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may be disposed adjacent to the second corner  110   b - 2  and the third corner  110   b - 3 , respectively. 
     Referring to  FIG.  4 B , the 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  included in the second OIS driver may be disposed on a third side surface  110   a - 3  and a fourth side surface  110   a - 4 , respectively. The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may be disposed adjacent to the third corner  110   b - 3  and the fourth corner  110   b - 4 , respectively. 
     2.2. Tilting OIS 
     2.2.1. Structure 
     Referring to  FIG.  2 A , the sensor shifting module  100  may include a third OIS driver. The sensor shifting module  100  may include a third OIS driver for moving the first movable body  130  relative to the fixed body  170 . The third OIS driver may rotate the first movable body  130  about an axis (e.g., the first axis A 1  or the second axis A 2  in  FIG.  2 B ) orthogonal to the optical axis O with respect to the fixed body  170 . The shaking correction may be implemented by translating the image sensor  111  in a direction orthogonal to the optical axis O, but since the size of the mobile camera has a relatively small size, the range of translation movement may be relatively small, and accordingly, when the degree of shaking is relatively large, the amount of correction may not reach the shaking. The third OIS driver may correct the shaking by tilting the image sensor  111 , and may provide a shaking correction function of excellent quality even for relatively large shaking. 
     The first movable body  130  may be movably disposed in the fixed body  170 . The first movable body  130  may move with respect to the fixed body  170  by the third OIS driver. The image sensor  111  may be coupled to the first movable body  130 . The image sensor  111  may be movably coupled to the first movable body  130 . For example, the image sensor  111  may be coupled to the second movable body  110 , and the second movable body  110  may be movably coupled to the first movable body  130 . The second movable body  110  may move relative to the first movable body  130  by the first OIS driver and/or the second OIS driver. 
     2.2.2. Third Actuator (Tilting) 
     Referring to  FIGS.  2 A and  2 B , the third OIS driver may include a third actuator  160  disposed between the fixed body  170  and the first movable body  130 . The third actuator  160  may include a third driving magnet  161  coupled to the first movable body  130  or the second movable body  110  and a third driving coil  162  coupled to the fixed body  170  to oppose the third driving magnet  161 . 
     In an example embodiment, the third actuator  160  may further include a yoke  163 . The yoke  163  may be disposed on one side of the third driving magnet  161  and/or the third driving coil  162 . 
     In an example embodiment, the third driving magnet  161  may be the first driving magnet  121  of the first OIS driver or the second driving magnet  151  of the second OIS driver. That is, the first driving magnet  121  or the second driving magnet  151  may be included in a portion of the third OIS driver. For example, at least one of the 1-1 driving magnet  121 - 1 , the 1-2 driving magnet  121 - 2 , the 2-1 driving magnet  151 - 1 , or the 2-2 driving magnet  151 - 2  may function as the third driving magnet  161 . Accordingly, a component described as the third driving magnet  161  in the example embodiment may be understood as the first driving magnet  121  or the second driving magnet  151 . 
     The third OIS driver may include a plurality of third actuators  160 , and each of the third actuators  160  may include a third driving magnet  161  and a third driving coil  162 . For example, the third OIS driver may include four third actuators  160  corresponding to the 1-1 actuator  120 - 1 , the 1-2 actuator  120 - 2 , the 2-1 actuator  150 - 1 , and the 2-2 actuator  150 - 2 , respectively. 
     In an example embodiment, the third actuator  160  may include a 3-1 actuator  160 - 1 , a 3-2 actuator  160 - 2 , a 3-3 actuator  160 - 3 , and a 3-4 actuator  160 - 4 . 
     Referring to  FIG.  2 B , the 3-1 actuator  160 - 1  may include a 3-1 driving magnet  161 - 1  and a 3-1 driving coil  162 - 1 . The 3-2 actuator  160 - 2  may include a 3-2 driving magnet  161 - 2  and a 3-2 driving coil  162 - 2 . The 3-3 actuator  160 - 3  may include a 3-3 driving magnet  161 - 3  and a 3-3 driving coil  162 - 3 . The 3-4 actuator  160 - 4  may include a 3-4 driving magnet  161 - 4  and a 3-4 driving coil  162 - 4 . 
     The 1-1 driving magnet  121 - 1 , the 1-2 driving magnet  121 - 2 , the 2-1 driving magnet  151 - 1 , and the 2-2 driving magnet  151 - 2  may function as driving magnets  161 - 1 ,  161 - 2 ,  161 - 3 , and  161 - 4  of the 3-1 actuator  160 - 1 , the 3-2 actuator  160 - 2 , the 3-3 actuator  160 - 3 , and the 3-4 actuator  160 - 4 , respectively. The 3-1 driving coil  162 - 1 , the 3-2 driving coil  162 - 2 , the 3-3 driving coil  162 - 3 , and the 3-4 driving coil  162 - 4  may be disposed to oppose the 1-1 driving magnet  121 - 1 , the 1-2 driving magnet  121 - 2 , the 2-1 driving magnet  151 - 1 , and the 2-2 driving magnet  151 - 2 , respectively. 
     The third OIS driver may rotate the first movable body  130  about the first axis A 1  and the second axis A 2 . The first axis A 1  and the second axis A 2  may be orthogonal to the optical axis and may intersect each other. For example, the first axis A 1  may be parallel to the Y axis and the second axis A 2  may be parallel to the X axis. 
     The 3-1 actuator  160 - 1  or the 3-3 actuator  160 - 3  may provide a moment in the first axis A 1  direction to the first movable body  130 . When a current is applied to the 3-1 driving coil  162 - 1 , attractive force or repulsive force may be created between the 3-1 driving coil  162 - 1  and the 1-1 driving magnet  121 - 1 , such that the first movable body  130  may be tilted relative to the fixed body  170  with respect to the first axis A 1  orthogonal to the optical axis. When a current is applied to the 3-3 driving coil  162 - 3 , attractive force or repulsive force may be created between the 3-3 driving coil  162 - 3  and the 2-1 driving magnet  151 - 1 , such that the first movable body  130  may be tilted relative to the fixed body  170  with respect to the first axis A 1  orthogonal to the optical axis. 
     The 3-2 actuator  160 - 2  and the 3-4 actuator  160 - 4  may provide a moment to the first movable body  130  in the second axis A 2  direction. When a current is applied to the 3-2 driving coil  162 - 2 , attractive force or repulsive force may be created between the 3-2 driving coil  162 - 2  and the 1-2 driving magnet  121 - 2 , such that the first movable body  130  may be tilted relative to the fixed body  170  with respect to the second axis A 2  orthogonal to the optical axis. When a current is applied to the 3-4 driving coil  162 - 4 , attractive force or repulsive force may be created between the 3-4 driving coil  162 - 4  and the 2-2 driving magnet  151 - 2 , such that the first movable body  130  may be tilted relative to the fixed body  170  with respect to the second axis A 2  orthogonal to the optical axis. 
     In an example embodiment, a portion of the 3-1 driving coil  162 - 1 , the 3-2 driving coil  162 - 2 , the 3-3 driving coil  162 - 3 , or the 3-4 driving coil  162 - 4  may not be provided. In an example embodiment, one of the 3-1 actuator  160 - 1  and the 3-3 actuator  160 - 3  providing the moment in the Y-direction may not be provided. In an example embodiment, one of the 3-2 actuator  160 - 2  and the 3-4 actuator  160 - 4  providing the moment in the X-direction may not be provided. For example, the third OIS driver may include only the 3-1 actuator  160 - 1  and the 3-2 actuator  160 - 2 . As another example, the third OIS driver may include only the 3-3 actuator  160 - 3  and the 3-4 actuator  160 - 4 . 
     Meanwhile, in the drawings, the first driving magnet  121  and the second driving magnet  151  included in a portion of the first OIS driver and the second OIS driver may be coupled to the first movable body  130 , or may be coupled to the second movable body  110  alternatively. In this case, the third driving coil  162  may be disposed to oppose the first driving magnet  121  and the second driving magnet  151  coupled to the second movable body  110 . 
     2.2.3. Ball Guide 
     In an example embodiment, the third OIS driver may include a tilt guide ball  164  disposed between the fixed body  170  and the first movable body  130 . The tilt guide ball  164  may provide a tilt center for the fixed body  170  of the first movable body  130 . For example, the first movable body  130  may be tilted around the tilt guide ball  164 . The lower surface of the first movable body  130  and the bottom surface of the fixed body  170  may oppose each other in the optical axis O direction, and a groove for accommodating a portion of the tilt guide ball  164  may be formed in the lower surface of the first movable body  130  and the bottom surface of the fixed body  170 , respectively. 
     2.2.4. Pulling 
       FIG.  2 C  illustrates the upper surface of the fixed body and the lower surface of the first movable body in an example embodiment. 
     Referring to  FIGS.  2 A and  2 C , in an example embodiment, the third OIS driver may include pulling means disposed on the fixed body  170  and the first movable body  130 , respectively, and opposing each other in a direction parallel to the optical axis O. The pulling means may include a first magnetic member  165  and a second magnetic member  166 . A magnetic attraction may be created between the first magnetic member  165  and the second magnetic member  166 , such that the first movable body  130  may be pulled to the bottom surface of the fixed body  170 . Accordingly, the tilt guide ball  164  may maintain to be in contact with the first movable body  130  and the fixed body  170 , such that the first movable body  130  may be smoothly tilted with respect to the fixed body  170 . 
     One of the first magnetic member  165  or the second magnetic member  166  may be a magnet, and the other may be a magnet or a yoke. For example, the first magnetic member  165  may be a magnet and the second magnetic member  166  may be a yoke. 
     Referring to  FIG.  2 C , a plurality of first magnetic members  165  and a plurality of second magnetic members  166  corresponding to the plurality of first magnetic members  165  may be arranged around the tilt guide ball  164 . 
     In an example embodiment, the third OIS driver may include a third position sensor configured to measure the amount of tilting of the first movable body  130 . The third position sensor may be configured as a Hall sensor or a magnetoresistance sensor. 
     In an example embodiment, the third position sensor may be disposed in the third driving coil  162  and may oppose the first driving magnet  121  or the second driving magnet  151 . 
     In an example embodiment, the third OIS driver may include a sensing magnet opposing the third position sensor. In an example embodiment, one of the first magnetic member  165  and the second magnetic member  166  may be a magnet and the other may be a yoke, and the magnetic member which is a magnet may function as a sensing magnet. For example, referring to  FIG.  2 A , the first magnetic member  165  may be a magnet, the second magnetic member  166  may be a yoke, the second magnetic member  166  may include a through portion therein, and a third position sensor may be disposed in the through portion. 
     2.3. Movement 
     2.3.1. Translation Movement 
       FIGS.  5 A and  5 B  are diagrams illustrating movement of a second movable body due to a first OIS driver. 
     Referring to  FIG.  5 A , the 1-1 actuator  120 - 1  may move the second movable body  110  in the X-direction with respect to the first movable body  130 . When a current is applied to the 1-1 driving coil  122 - 1 , attractive force or repulsive force in the X-direction may be created between the 1-1 driving coil  122 - 1  and the 1-1 driving magnet  121 - 1  such that the second movable body  110  (or the image sensor  111 ) may move in the −X-direction or the +X-direction. 
     Referring to  FIG.  5 B , the 1-2 actuator  120 - 2  may move the second movable body  110  in the Y-direction with respect to the first movable body  130 . When a current is applied to the 1-2 driving coil  122 - 2 , attractive force or repulsive force in the Y-direction may be created between the 1-2 driving coil  122 - 2  and the 1-2 driving magnet  121 - 2 , such that the second movable body  110  (or the image sensor  111 ) may move in the −Y-direction or the +Y-direction. 
     2.3.2. Rolling Movement 
       FIGS.  6 A and  6 B  are diagrams illustrating rolling of a second movable body  110  due to a second OIS driver. 
     Referring to  FIG.  6 A , the 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may rotate the second movable body  110  in a counterclockwise direction with respect to the first movable body  130 . The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may provide a moment in a counterclockwise direction to the second movable body  110 . For example, a Lorentz force may be created between the 2-1 driving magnet  151 - 1  and the 2-1 driving coil  152 - 1 , and accordingly, a force F 1  may act on the 2-1 driving magnet  151 - 1 . A Lorentz force may be created between the 2-2 driving magnet  151 - 2  and the 2-2 driving coil  152 - 2 , and accordingly, a force F 2  may act on the 2-2 driving magnet  151 - 2 . F 1  and F 2  may rotate the second movable body  110  in a counterclockwise direction. 
     Referring to  FIG.  6 B , the 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may rotate the second movable body  110  in a clockwise direction with respect to the first movable body  130 . The 2-1 actuator  150 - 1  and the 2-2 actuator  150 - 2  may provide a moment in a clockwise direction to the second movable body  110 . For example, a Lorentz force may be created between the 2-1 driving magnet  151 - 1  and the 2-1 driving coil  152 - 1 , and accordingly, a force F 3  may act on the 2-1 driving magnet  151 - 1 . A Lorentz force may be created between the 2-2 driving magnet  151 - 2  and the 2-2 driving coil  152 - 2 , and accordingly, a force F 4  may act on the 2-2 driving magnet  151 - 2 . F 3  and F 4  may rotate the second movable body  110  in a clockwise direction. 
     2.3.3. Tilting Movement 
       FIGS.  7 A and  7 B  are diagrams illustrating tilting of the first movable body  130 . 
     Referring to  FIGS.  7 A and  7 B , the third OIS driver may rotate the image sensor about an axis orthogonal to the optical axis. For example, the third OIS driver may rotate the first movable body  130  and the second movable body  110  in a clockwise or counterclockwise direction with respect to the tilt guide ball  164 . 
       FIGS.  7 A and  7 B  illustrate a 3-1 actuator  160 - 1  and a 3-3 third actuator  160 - 3  responsible for rotation of the first movable body  130  in the first axis A 1  direction (or Y-axis direction). Although not illustrated, the first movable body  130  may rotate about various axes (e.g., the first axis A 1  or the second axis A 2  in  FIG.  2 B ) orthogonal to the optical axis by the plurality of third actuators including the 3-1 actuator  160 - 1  and/or the 3-3 actuator  160 - 3 . 
     Referring to  FIG.  7 A , as a current is applied to the 3-1 driving coil  162 - 1 , a repulsive force may be created between the 3-1 driving magnet  161 - 1  and the 3-1 driving coil  162 - 1 , such that the first movable body  130  may rotate in a counterclockwise direction. Additionally or alternatively, as a current is applied to the 3-3 driving coil  162 - 3 , attractive force may be created between the 3-3 driving magnet and the 3-3 driving coil  162 - 3 , such that first movable body  130  may rotate in a counterclockwise direction with respect to the fixed body  170 . 
     Referring to  FIG.  7 B , as current is applied to the 3-1 driving coil  162 - 1 , attractive force may be created between the 3-1 driving magnet  161 - 1  and the 3-1 driving coil  162 - 1 , such that the first movable body  130  may rotate in a clockwise direction. Additionally or alternatively, as a current is applied to the 3-3 driving coil  162 - 3 , repulsive force may be created between the 3-3 driving magnet  161 - 3  and the 3-3 driving coil  162 - 3 , such that the first movable body  130  may rotate in a clockwise direction with respect to the fixed body  170 . 
     In an example embodiment, one of the 3-1 actuator  160 - 1  or the 3-3 actuator  160 - 3  in the third OIS driver may not be provided. This is because the 3-1 actuator  160 - 1  and the 3-3 actuator  160 - 3  may rotate the first movable body  130  in a clockwise or counterclockwise direction. 
     2.4. Deformation of Flexible Substrate 
       FIGS.  8 A,  8 B,  8 C, and  8 D  are diagrams illustrating deformation of a substrate  140  according to movement of a movable body  110 . 
     Referring to  FIG.  8 A , when the second movable body  110  moves in the −X-direction, the movable portion  141  of the substrate  140  may also move in the −X-direction, and accordingly, the first bridge  147  connecting the guide  146  to the fixed portion  142  may be deformed. Since the bridge elements  144  included in the first bridge  147  have elasticity, the deformed first bridge  147  may provide resilient force to allow the movable portion  141  to return in a direction (the +X-direction) opposite to the movement direction. Accordingly, when no current is applied to the first OIS driver, the movable portion  141  may move in the +X-direction. 
     Referring to  FIG.  8 B , when the second movable body  110  moves in the +X-direction, the movable portion  141  of the substrate  140  may also move in the +X-direction, and accordingly, the first bridge  147  connecting the guide  146  to the fixed portion  142  may be deformed. Since the bridge elements  144  included in the first bridge  147  have elasticity, the deformed first bridge  147  may provide resilient force to allow the movable portion  141  to return in the direction (the −X-direction) opposite to the moving direction. 
     Referring to  FIG.  8 C , when the second movable body  110  moves in the +Y-direction, the movable portion  141  of the substrate  140  may also move in the +Y-direction, and accordingly, the second bridge  148  connecting the guide  146  to the movable portion  141  may be deformed. Since the bridge elements  144  included in the second bridge  148  have elasticity, the deformed second bridge  148  may provide resilient force to allow the movable portion  141  to return in the direction (the −Y-direction) opposite to the moving direction. 
     Referring to  FIG.  8 D , when the second movable body  110  moves in the −Y-direction, the movable portion  141  of the substrate  140  may also move in the −Y-direction, and accordingly, the second bridge  148  connecting the guide  146  to the movable portion  141  may be deformed. Since the bridge elements  144  included in the second bridge  148  have elasticity, the deformed second bridge  148  may provide resilient force to allow the movable portion  141  to return in the direction (the +Y-direction) opposite to the moving direction. 
     According to the aforementioned example embodiments, the camera may provide effective optical image stabilization with low power. Also, an excellent shaking correction function may be implemented by driving the image sensor in various directions. 
     The AF driver  23 , OIS drivers, first, second, and third OIS drivers, OIS driver  12 , sensors, sensor shifting modules, sensor shifting modules  10 ,  100 , image sensors, image sensors  11 ,  111 , actuators, first actuators  120 , second actuators  150 , and third actuators  160 , first, second, and third position sensors, processors, memories, and other apparatuses, devices, units, modules, and components described herein with respect to  FIGS.  1 - 8 D  are implemented by or representative of hardware components. Examples of hardware components that may be used to perform the operations described herein where appropriate include controllers, sensors, generators, drivers, memories, comparators, arithmetic logic units, adders, subtractors, multipliers, dividers, integrators, and any other electronic components configured to perform the operations described herein. In other examples, one or more of the hardware components that perform the operations described herein are implemented by computing hardware, for example, by one or more processors or computers. A processor or computer may be implemented by one or more processing elements, such as an array of logic gates, a controller and an arithmetic logic unit, a digital signal processor, a microcomputer, a programmable logic controller, a field-programmable gate array, a programmable logic array, a microprocessor, or any other device or combination of devices that is configured to respond to and execute instructions in a defined manner to achieve a desired result. In one example, a processor or computer includes, or is connected to, one or more memories storing instructions or software that are executed by the processor or computer. Hardware components implemented by a processor or computer may execute instructions or software, such as an operating system (OS) and one or more software applications that run on the OS, to perform the operations described herein. The hardware components may also access, manipulate, process, create, and store data in response to execution of the instructions or software. For simplicity, the singular term “processor” or “computer” may be used in the description of the examples described herein, but in other examples multiple processors or computers may be used, or a processor or computer may include multiple processing elements, or multiple types of processing elements, or both. For example, a single hardware component or two or more hardware components may be implemented by a single processor, or two or more processors, or a processor and a controller. One or more hardware components may be implemented by one or more processors, or a processor and a controller, and one or more other hardware components may be implemented by one or more other processors, or another processor and another controller. One or more processors, or a processor and a controller, may implement a single hardware component, or two or more hardware components. A hardware component may have any one or more of different processing configurations, examples of which include a single processor, independent processors, parallel processors, single-instruction single-data (SISD) multiprocessing, single-instruction multiple-data (SIMD) multiprocessing, multiple-instruction single-data (MISD) multiprocessing, and multiple-instruction multiple-data (MIMD) multiprocessing. 
     The methods illustrated in  FIGS.  1 - 8 D  that perform the operations described herein are performed by computing hardware, for example, by one or more processors or computers, implemented as described above executing instructions or software to perform the operations described herein that are performed by the methods. For example, a single operation or two or more operations may be performed by a single processor, or two or more processors, or a processor and a controller. One or more operations may be performed by one or more processors, or a processor and a controller, and one or more other operations may be performed by one or more other processors, or another processor and another controller. One or more processors, or a processor and a controller, may perform a single operation, or two or more operations. 
     Instructions or software to control computing hardware, for example, one or more processors or computers, to implement the hardware components and perform the methods as described above may be written as computer programs, code segments, instructions or any combination thereof, for individually or collectively instructing or configuring the one or more processors or computers to operate as a machine or special-purpose computer to perform the operations that are performed by the hardware components and the methods as described above. In one example, the instructions or software include machine code that is directly executed by the one or more processors or computers, such as machine code produced by a compiler. In another example, the instructions or software includes higher-level code that is executed by the one or more processors or computer using an interpreter. The instructions or software may be written using any programming language based on the block diagrams and the flow charts illustrated in the drawings and the corresponding descriptions used herein, which disclose algorithms for performing the operations that are performed by the hardware components and the methods as described above. 
     The instructions or software to control computing hardware, for example, one or more processors or computers, to implement the hardware components and perform the methods as described above, and any associated data, data files, and data structures, may be recorded, stored, or fixed in or on one or more non-transitory computer-readable storage media. Examples of a non-transitory computer-readable storage medium include read-only memory (ROM), random-access programmable read only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROMs, CD-Rs, CD+Rs, CD-RWs, CD+RWs, DVD-ROMs, DVD-Rs, DVD+Rs, DVD-RWs, DVD+RWs, DVD-RAMs, BD-ROMs, BD-Rs, BD-R LTHs, BD-REs, blue-ray or optical disk storage, hard disk drive (HDD), solid state drive (SSD), flash memory, a card type memory such as multimedia card micro or a card (for example, secure digital (SD) or extreme digital (XD)), magnetic tapes, floppy disks, magneto-optical data storage devices, optical data storage devices, hard disks, solid-state disks, and any other device that is configured to store the instructions or software and any associated data, data files, and data structures in a non-transitory manner and provide the instructions or software and any associated data, data files, and data structures to one or more processors or computers so that the one or more processors or computers can execute the instructions. In one example, the instructions or software and any associated data, data files, and data structures are distributed over network-coupled computer systems so that the instructions and software and any associated data, data files, and data structures are stored, accessed, and executed in a distributed fashion by the one or more processors or computers. 
     While specific examples have been illustrated and described above, it will be apparent after an understanding of this disclosure that various changes in form and details may be made in these examples without departing from the spirit and scope of the claims and their equivalents. The examples described herein are to be considered in a descriptive sense only, and not for purposes of limitation. Descriptions of features or aspects in each example are to be considered as being applicable to similar features or aspects in other examples. Suitable results may be achieved if the described techniques are performed in a different order, and/or if components in a described system, architecture, device, or circuit are combined in a different manner, and/or replaced or supplemented by other components or their equivalents. Therefore, the scope of the disclosure is defined not by the detailed description, but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are to be construed as being included in the disclosure.