Patent Publication Number: US-2023156334-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. 10-2021-0156826 filed on Nov. 15, 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 an optical image stabilization device and a camera module comprising the same. 
     2. Description of the Background 
     With the development of communications technology, mobile devices such as a smartphone, may be widely distributed, and accordingly, functions of a camera included in mobile devices may also be in increasing demand. For example, a camera included in a mobile device may be designed to provide advanced imaging functions (e.g., an autofocus function, an anti-shake function, and the like) implemented in a general digital single-lens reflex camera (DSLR) camera despite a small size thereof. 
     Optical image stabilization (OIS) function may 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. An image sensor may be relatively light, such that it may be advantageous to implement an excellent OIS function even with a relatively small amount of force. However, when an actuator for driving the image sensor includes a permanent magnet, a magnetic field due to the permanent magnet may affect neighboring electronic components. Also, when a mobile device includes a plurality of cameras disposed adjacently to each other, a permanent magnet in each camera may negatively affect operations of neighboring cameras such that it may be difficult to dispose the cameras to be adjacent to each other or to dispose electronic components in the camera. 
     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 movable body movably disposed on the fixed body and coupled to an image sensor having an imaging plane oriented in a first direction, and a first driver configured to rotate the first movable body about an axis orthogonal to the first direction with respect to the fixed body, wherein the first driver includes a tilt guide ball disposed between the fixed body and the first movable body to provide a tilt center for the first movable body with respect to the fixed body. 
     The first driver may include a tilt actuator disposed between the fixed body and the first movable body, and the tilt actuator may include a first driving element disposed on one of the first movable body and the fixed body, and a second driving element disposed on the other of the first movable body and the fixed body, one of the first driving element and the second driving element may be a coil, and the other may be one of a coil, a magnet, and a yoke, and the first movable body may rotate by electromagnetic interaction between the first driving element and the second driving element. 
     The first driver may include a first magnetic member and a second magnetic member disposed on the fixed body and the first movable body, respectively, and opposing each other in the first direction. 
     One of the first magnetic member and the second magnetic member may be a magnet, the other may be a yoke including a through portion therein, and the first driver may include a position sensor disposed in the through portion. 
     The first driver may include an elastic member disposed between the fixed body and the first movable body, and the elastic member may be compressed according to tilting of the first movable body. 
     The elastic member may be a leaf spring bent to be curved toward the fixed body or the first movable body. 
     The sensor shifting module may further include a second movable body movably disposed on the first movable body and coupled to the image sensor, and a second driver configured to move the second movable body in a direction orthogonal to the first direction with respect to the first movable body, the second driver may include a driving coil coupled to one of the first movable body and the second movable body, and a driving yoke coupled to the other, the driving yoke may oppose the driving coil in a direction orthogonal to the first direction, and when a current is applied to the driving coil, the second movable body may move in a direction orthogonal to the first direction by electromagnetic interaction between the driving coil and the driving yoke. 
     The driving yoke may be a soft magnetic material. 
     The second driver may further include a yoke disposed on one side of the driving coil, and the driving coil may be disposed between the driving yoke and the yoke. 
     The sensor shifting module may further include a substrate mechanically connecting the second movable body to the first movable body and being deformed according to movement of the second movable body with respect to the first movable body. 
     The substrate may include electrical traces electrically connected to the image sensor. 
     The substrate may include a movable portion fixedly coupled to the second movable body, a fixed portion fixedly coupled to the first movable body, and a supporting portion interconnecting the movable portion to the fixed portion, and the supporting portion may include a plurality of bridges embedding the electrical traces 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. 
     The plurality of bridges may include first bridges extending from the movable portion to the guide in a second direction orthogonal to the first direction and second bridges extending from the guide to the fixed portion in a third direction orthogonal to the first direction, and the second direction and the third direction intersect each other. 
     A camera module may include the sensor shifting module, and a lens barrel including at least one lens, wherein light incident through the at least one lens may strike the imaging plane in the first direction. 
     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 movable body movably disposed on the fixed body and coupled to an image sensor oriented in a first direction, and a first driver configured to rotate the first movable body about an axis orthogonal to the first direction with respect to the fixed body, wherein the first driver includes a tilt actuator disposed between the fixed body and the first movable body, and the tilt actuator includes a first driving element disposed on one of the first movable body and the fixed body and a second driving element disposed on the other of the first movable body and the fixed body, wherein one of the first driving element and the second driving element is a coil, and the other is one of a coil, a magnet, and a yoke, and wherein the first movable body rotates by electromagnetic interaction between the first driving element and the second driving element. 
     The camera module may further include a second movable body movably disposed on the first movable body and coupled to the image sensor, and a second driver configured to move the second movable body in a direction orthogonal to the first direction with respect to the first movable body, the second driver may include a driving coil coupled to one of the first movable body and the second movable body, and a driving yoke coupled to the other, the driving yoke may oppose the driving coil in a direction orthogonal to the first direction, and when a current is applied to the driving coil, the second movable body may move in a direction orthogonal to the first direction by electromagnetic interaction arising between the driving coil and the driving yoke. 
     In another general aspect, a sensor shifting module includes an image sensor having an imaging plane oriented in a first direction, a tilt guide ball, a first movable body rotatably disposed on the tilt ball and supporting the image sensor, and a tilt actuator configured to rotate the first movable body about an axis through the tilt guide ball orthogonal to the first direction, wherein the tilt actuator includes a first driving element disposed on the first movable body and a second driving element facing the first driving element in the first direction, wherein, the first driving element is a coil or a yoke, and when the first driving element is a coil, the second driving element is a coil or a yoke, and when the first driving element is a yoke, the second driving element is a coil, and wherein the first movable body rotates by electromagnetic interaction between the first driving element and the second driving element. 
     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. 
         FIGS.  2 A,  2 B, and  2 C  are diagrams illustrating a sensor shifting module according to an example embodiment of the present disclosure. 
         FIG.  2 D  illustrates a bottom surface of the fixed body  170  and a lower surface of the first movable body  130  in an example embodiment. 
         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. 
         FIG.  4    is a diagram illustrating an OIS driver according to an example embodiment of the present disclosure, viewed from the above. 
         FIGS.  5 A,  5 B,  5 C, and  5 D  are diagrams illustrating movement of a movable body due to the OIS driver in  FIG.  4   . 
         FIGS.  6  and  7    are diagrams illustrating tilting of a first movable body. 
         FIGS.  8 A,  8 B,  8 C, and  8 D  are diagrams illustrating deformation of a substrate according to movement of a movable body. 
         FIGS.  9 A and  9 B  are diagrams illustrating a sensor holder having a form different from the example in  FIG.  2 A . 
     
    
    
     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 effective optical image stabilization with low power, or to eliminate or reduce an effect of a magnetic field of an actuator for driving an image sensor. For example, the effect of the magnetic field of an actuator for driving an image sensor on electronic components disposed outside of a camera may be reduced or eliminated. 
     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, or to rotate the image sensor  11  about an axis parallel to the optical axis and/or to rotate 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  9 B  may be applied to the camera module  1  in  FIG.  1   . 
     2. Sensor Shift 
     2.1. Translational OIS 
       FIGS.  2 A to  2 C  are diagrams illustrating a sensor shifting module  100  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  120  and a second OIS driver  160  to be described later. For example, the OIS driver  12  of the camera module  1  in  FIG.  1    may include at least one of the first OIS driver  120  and the second OIS driver  160 . 
     2.1.1. Structure 
     The sensor shifting module  100  may include a first OIS driver  120  for driving the image sensor  111 . In an example embodiment, the first OIS driver  120  may include a second movable body  110  including an image sensor  111  and a first movable body  130 . 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 . 
     Referring to  FIGS.  2 A to  2 C , 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 upwardly from the edge of the plate  113   a  (that is, in the +Z direction). The extension portion  113   b  may oppose a driving coil  122 , and a driving yoke  121  may be seated on the extension portion  113   b . In another example embodiment, the driving yoke  121  may be mounted on the first movable body  130  and the driving coil  122  may be mounted on the sensor holder  113 . In this case, the driving coil  122  and/or the yoke  123  may be seated on the extension portion  113   b.    
     The 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 the driving coil  122  and the yoke  123  to be described in more detail later. 
     The second movable body  110  may move, through the first OIS driver  120 , in a direction orthogonal to a direction in which the imaging plane  111   a  of the image sensor  111  is directed. In an example embodiment, the first OIS driver  120  may compensate for 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. The first OIS driver  120  may move (translate) 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, the first OIS driver  120  may move the second movable body  110  in the X-direction and/or the Y-direction orthogonal to the Z-axis, thereby correcting the shaking in the X-direction and/or the Y-direction. 
     In the example embodiments, 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 yoke  121  and the driving coil  122  oppose each other in the X-direction may indicate that the driving yoke  121  and the driving coil  122  oppose each other in a direction orthogonal to the optical axis O. Also, the X-direction or 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. 
     2.1.2. Actuator 
     Referring to  FIGS.  2 A to  2 C , in an example embodiment, the first OIS driver  120  may include the driving coil  122  coupled to one of the second movable body  110  or the first movable body  130 , and the driving yoke  121  coupled to the other of the second movable body  110  and the first movable body  130 . For example, referring to  FIG.  2 A , in an example embodiment, the driving coil  122  and the driving yoke  121  may be coupled to the base  131  and the sensor holder  113 , respectively. The driving yoke  121  and the driving coil  122  may oppose each other in a direction orthogonal to the optical axis O. Electromagnetic interaction between the driving yoke  121  and the driving coil  122  may allow the second movable body  110  to move in a direction orthogonal to the optical axis O with respect to the first movable body  130 . 
     In an example embodiment, the first OIS driver  120  may further include a yoke  123  disposed on one side of the coil. The yoke  123  may allow the magnetic field generated in the coil to be concentrated in a direction toward the driving yoke  121 . Since the yoke  123  is disposed on one side of the driving coil  122 , the magnetic field generated by the driving coil  122  may be prevented from affecting other electronic components or the effect of the magnetic field on such other electronic components may be reduced. 
     In the example embodiments, the driving coil  122  and the driving yoke  121  may be coupled to the first movable body  130  and the second movable body  110 , respectively, but in another example embodiment, the driving coil  122  and the driving yoke  121  may be coupled to the second movable body  110  and the first movable body  130 , respectively. For example, the driving coil  122  and the driving yoke  121  may be coupled to the sensor holder  113  and the base  131 , respectively. 
     An air gap may be formed between the driving coil  122  and the driving yoke  121 . Alternatively, the space between the driving coil  122  and the driving yoke  121  may be an air gap. That is, no other member (e.g., a magnet, i.e., a permanent magnet) may be present between the driving coil  122  and the driving yoke  121 . The driving coil  122  and the driving yoke  121  may directly oppose each other with an air gap therebetween. 
       FIGS.  2 A to  2 C  illustrate the components of the first OIS driver  120 , and an example embodiment thereof is not limited to the structure in  FIGS.  2 A to  2 C . The first OIS driver  120  may include a voice coil motor (VCM) actuator. For example, the driving yoke  121  partially included in the first OIS driver  120  may be replaced with a magnet. The magnet may be disposed to oppose the driving coil  122  instead of the driving yoke  121 , and electromagnetic interaction between the magnet and the driving coil  122  may allow the second movable body  110  to move relative to the first movable body  130 . 
     2.1.3. 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 in a direction 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 thereof. The second movable body  110  in the equilibrium state may move relative to the first movable body  130  as a current is applied to the driving coil  122 , and when the current does not flow in the driving coil  122 , the second movable body  110  may return to the original position by the substrate  140 . 
       FIG.  3    is a diagram illustrating a substrate  140  on which an image sensor  111  is 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  (floating portion) on which the sensor substrate  112  is seated, and a fixed portion  142  fixed on the first movable body  130  (fixed portion). The sensor substrate  112  and the movable portion  141  may be electrically connected to each other through solder balls at the 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 a 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 between 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 supporting portion  143  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 generated 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  (electrical trace  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 path for transmitting a signal of the image sensor  111 . 
     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 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 a direction in which the first bridge  147  and the second bridge  148  intersect 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 forms 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 of the 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  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. 
     2.1.4. Position Sensor 
     Referring to  FIGS.  2 A to  2 C , in an example embodiment, the first OIS driver  120  may include a position sensor  127  which may measure how much the second movable body  110  moves in a direction orthogonal to the optical axis O. The position sensor  127  may be configured as a Hall sensor or a magnetoresistance sensor. 
     The first OIS driver  120  may include a sensing magnet  124  moving together with the second movable body  110  and opposing the position sensor  127 . The position sensor  127  may be disposed to oppose the sensing magnet  124 . For example, the position sensor  127  may be disposed on the base  131 , and the sensing magnet  124  may be disposed on the substrate  140  to oppose the position sensor  127  in the optical axis direction (in the Z direction). As another example, the position sensor  127  may be disposed on the substrate  140 , and the sensing magnet  124  may be disposed on the base  131 . Two or more of each of the position sensor  127  and the sensing magnet  124  may be provided in pairs. 
     2.1.5. Translational Arrangement 
       FIG.  4    is a diagram illustrating an OIS driver  120  according to an example embodiment, viewed from above. 
     The first OIS driver  120  may include a plurality of unit drivers  120   a ,  120   b ,  120   c , and  120   d . The unit drivers  120   a ,  120   b ,  120   c , and  120   d  may each include a driving yoke  121  and a driving coil  122  opposing each other. The unit drivers  120   a ,  120   b ,  120   c , and  120   d  may further each include a yoke  123  disposed on one side of the driving coil  122 . For example, the first unit driver  120   a  may include a first driving yoke  121   a , a first driving coil  122   a , and a first yoke  123   a.    
     Since only attractive force may be created between the driving coil  122  and the driving yoke  121 , at least two unit drivers may be required to move back and forth the second movable body  110  in one direction. 
     Referring to  FIG.  4   , the first OIS driver  120  may include a first unit driver  120   a  disposed in the −X-direction of the second movable body  110 , and a second unit driver  120   b  disposed in the +X-direction of the body  110  to compensate for shaking in the X-direction. The first unit driver  121   a  may include a first driving yoke  121   a  coupled to the second movable body  110 , and a first driving coil  122   a  coupled to the base  131 . The first unit driver  120   a  may further include a first yoke  123   a  disposed on one side of the first driving coil  122   a . The second unit driver  120   b  may include a second driving yoke  121   b  coupled to the second movable body  110 , and a second driving coil  122   b  coupled to the base  131 . The second unit driver  120   b  may further include a second yoke  123   b  disposed on one side of the second driving coil  122   b.    
     Referring to  FIG.  4   , the first OIS driver  120  may include a third unit driver  120   c  disposed in the +Y-direction of the second movable body  110 , and a fourth unit driver  120   d  disposed in the −Y-direction of the second movable body  110  to compensate for the shaking in the Y-direction. The third unit driver  120   c  may include a third driving yoke  121   c  coupled to the second movable body  110 , and a third driving coil  122   c  coupled to the base  131 . The third unit driver  120   c  may further include a third yoke  123   c  disposed on one side of the third driving coil  122   c . The fourth unit driver  120   d  may include a fourth driving yoke  121   d  coupled to the second movable body  110 , and a fourth driving coil  122   d  coupled to the base  131 . The fourth unit driver  120   d  may further include a fourth yoke  123   d  disposed on one side of the fourth driving coil  122   d.    
     2.1.6. Translation 
       FIGS.  5 A to  5 D  are diagrams illustrating movement of a movable body due to the OIS driver in  FIG.  4   . 
     Referring to  FIG.  5 A , a current may be applied to the first driving coil  122   a  such that the first driving coil  122   a  may pull the first driving yoke  121   a  in the direction of an arrow, and accordingly, the second movable body  110  may move in the −X-direction. Referring to  FIG.  5 B , a current may be applied to the second driving coil  122   b  such that the second driving coil  122   b  may pull the second driving yoke  121   b  in the direction of the arrow, and accordingly, the second movable body  110  may move in +X-direction. Referring to  FIG.  5 C , a current may be applied to the third driving coil  122   c  such that the third driving coil  122   c  may pull the third driving yoke  121   c  in the direction of the arrow, and accordingly, the second movable body  110  may move in +Y-direction. Referring to  FIG.  5 D , a current may be applied to the fourth driving coil  122   d  such that the fourth driving coil  122   d  may pull the fourth driving yoke  121   d  in the direction of an arrow, and accordingly, the second movable body  110  may move in −Y-direction. 
     2.2. Tilting OIS 
     2.2.1. Tilting Structure 
       FIG.  2 D  illustrates a bottom surface of the fixed body  170  and a lower surface of the first movable body  130  in an example embodiment. Referring to  FIGS.  2 A to  2 D , the sensor shifting module  100  may include a second OIS driver  160 . The sensor shifting module  100  may include a second OIS driver  160  for moving the first movable body  130  relative to the fixed body  170 . The second OIS driver  160  may rotate the first movable body  130  with respect to the fixed body  170  based on an axis orthogonal to the optical axis O. 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 is relatively small, the range of the translation may also be relatively small and, accordingly, when the degree of shaking is large, the amount of correction may not reach the degree of shaking. The second OIS driver  160  may correct shaking by tilting the image sensor  111 , and may provide a shaking correction function of excellent quality even for the relatively large degree of shaking. 
     Meanwhile, in the example embodiment, the sensor shifting module  100  may include both the first OIS driver  120  and the second OIS driver  160 , but an example embodiment thereof is not limited thereto, and the sensor shifting module  100  may include only one of the first OIS driver  120  and the second OIS driver  160 . 
     The first movable body  130  may be movably disposed in the fixed body  170 . The first movable body  130  may move relative to the fixed body  170  by the second OIS driver  160 . 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 . 
     2.2.2. Tilt Actuator 
     The second OIS driver  160  may include at least one tilt actuator disposed between the fixed body  170  and the first movable body  130 . The tilt actuator may include a first driving element  161  disposed on the fixed body  170  and a second driving element  162  disposed on the first movable body  130 . The first movable body  130  may rotate relative to the fixed body  170  by electromagnetic interaction between the first driving element  161  and the second driving element  162 . In an example embodiment, one of the first driving element  161  and the second driving element  162  may be a coil, and the other may be a coil, a magnet, or a yoke. When no magnet is present in the first driving element  161  and the second driving element  162 , there may be no magnetic field formed by the second OIS driver  160  unless a current is applied to the second OIS driver  160 , such that the effect of the OIS driver  160  on the surrounding electronic components may be reduced. 
     For example, referring to  FIG.  2 A , in an example embodiment, the first driving element  161  may be a coil, and the second driving element  162  may be a yoke. When a current flows through the coil, reluctance force may be created between the coil and the yoke, which may tilt the first movable body  130 . 
     For another example, referring to  FIG.  2 B , in an example embodiment, the first driving element  161  may be a coil and the second driving element  162  may be a magnet. When a current flows through the coil, an attractive force or repulsive force may be created between the coil and the magnet, which may tilt the first movable body  130 . 
     As another example, referring to  FIG.  2 C , in an example embodiment, both the first driving element  161  and the second driving element  162  may be coils. When a current flows through the two coils, the two coils may become electromagnets, and magnetic attraction or repulsive force may be created between the two coils. 
     In an example embodiment, the tilt actuator may further include a yoke  163 . The yoke  163  may be disposed on one side of the first driving element  161  and/or the second driving element  162 . The yoke  163  may concentrate the magnetic field created by the coil or magnet to the opposite side. Also, the yoke  163  may prevent the magnetic field caused by the coil or magnet from affecting the other electronic components or may reduce the effect of the magnetic field on the other electronic components. For example, referring to  FIG.  2 A , the first driving element  161  may be a coil, and the yoke  163  may be disposed below the coil. The yoke  163  may allow a magnetic field arising when a current flows in the coil to be concentrated in the +Z direction (or the direction toward the second driving element  162 ). For another example, referring to  FIG.  2 B , the first driving element  161  may be a coil and the second driving element  162  may be a magnet, and the yoke  163  may be disposed below the first driving element  161  and above the second driving element  162 . As another example, referring to  FIG.  2 C , both the first driving element  161  and the second driving element  162  may be coils, and the yoke  163  may be disposed on an external side of each of the two driving elements  161  and  162 . 
     2.2.3. Tilt Ball Guide 
     In an example embodiment, the second OIS driver  160  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 partially accommodating the tilt guide ball  164  may be formed in each of the lower surface of the first movable body  130  and the bottom surface of the fixed body  170 . 
     2.2.4. Tilt Pulling 
     In an example embodiment, the second OIS driver  160  may include a first magnetic member  165  disposed on the fixed body  170  and a second magnetic member  166  disposed on the first movable body  130 , and opposing each other in a direction parallel to the optical axis O. A magnetic attraction may be created between the first magnetic member  165  and the second magnetic member  166 , which may pull the first movable body  130  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  and the second magnetic member  166  may be a magnet, and the other may be a magnet or a yoke. For example, referring to  FIG.  2 A , the first magnetic member  165  may be a yoke and the second magnetic member  166  may be a magnet. 
     2.2.5. Tilt Sensor 
     In an example embodiment, the second OIS driver  160  may include a position sensor  167  configured to measure the tilt amount of the first movable body  130 . The position sensor  167  may be implemented as a Hall sensor or a magnetoresistance sensor, and in this case, the second OIS driver  160  may include a sensing magnet opposing the position sensor  167 . 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 second magnetic member  166  may be a magnet, the first magnetic member  165  may be a yoke, the first magnetic member  165  may include a through portion  165   a  therein, and the position sensor  167  may be disposed in the through portion  165   a.    
     2.2.6. Leaf Spring 
     In an example embodiment, the second OIS driver  160  may include an elastic member  168  which may provide a restoring force to the first movable body  130  when the first movable body  130  is tilted. The elastic member  168  may be deformed according to the tilting of the first movable body  130  and may provide a restoring force to the first movable body  130  and may allow the first movable body  130  to return to the original position thereof. Referring to  FIG.  2 A , the elastic member  168  may be disposed between the first movable body  130  or the fixed body  170 . In an example embodiment, the elastic member  168  may be provided in the form of a leaf spring bent to be curved toward the first movable body  130  or the fixed body  170 . For example, referring to  FIG.  2 A , the elastic member  168  may have a curved shape, curved in the direction of the first movable body  130 , and both ends of the elastic member  168  may be fixed to the bottom surface of the fixed body  170 . 
     2.2.7. Arrangement 
     The second OIS driver  160  may include a plurality of tilt actuators (e.g.,  160 - 1 ,  160 - 2 ,  160 - 3 ,  160 - 4 ). Referring to  FIG.  2 D , the four tilt actuators  160 - 1 ,  160 - 2 ,  160 - 3  and  160 - 4  may be disposed between the fixed body  170  and the first movable body  130 . Each of the four tilt actuators  160 - 1 ,  160 - 2 ,  160 - 3  and  160 - 4  may include a first driving element  161  and a second driving element  162  opposing each other. Each of the plurality of tilt actuators  160 - 1 ,  160 - 2 ,  160 - 3 , and  160 - 4  may generate attractive or repulsive force, and the direction and amount of rotation of the first movable body  130  may be determined by the sum of the moments provided by each of the plurality of tilt actuators  160 - 1 ,  160 - 2 ,  160 - 3 , and  160 - 4  to the first movable body  130 . 
     In an example embodiment, one or more sets of the first magnetic member  165  and the second magnetic member  166  may be disposed in positions spaced apart from the tilt guide ball  164 . Referring to  FIG.  2 D , the first magnetic member  165  and the second magnetic member  166  may be disposed in four positions around the tilt guide ball  164 . However, the arrangement of the first magnetic member  165  and the second magnetic member  166  illustrated in  FIG.  2 D  may be merely an example. 
     2.2.8. Tilting Movement 
       FIGS.  6  and  7    are diagrams illustrating tilting of a first movable body  130 . 
     Referring to  FIGS.  6  and  7   , the first driver may include a first tilt actuator  160   a  disposed on one side and a second tilt actuator  160   b  disposed on the other side with respect to a tilting center (or the tilt guide ball  164 ). Each of the first tilt actuator  160   a  and the second tilt actuator  160   b  may include at least one coil, and when a current flows through the coil, a moment in the Y-direction may be provided to the first movable body  130 . 
     Referring to  FIG.  6   , by controlling the current flowing in the coil, an attractive force may be created between the driving elements  161  and  162  included in the first tilt actuator  160   a , and a repulsive force may be created between the driving elements  161  and  162  included in the second tilting actuator  160   b , such that the first movable body  130  may rotate in a counterclockwise direction. As the first movable body  130  is tilted in a counterclockwise direction, the elastic member  168  adjacent to the first tilt actuator  160   a  may be deformed such that a clockwise moment may be provided to the first movable body  130 . 
     Referring to  FIG.  7   , by controlling the current flowing in the coil, a repulsive force may be created between the driving elements  161  and  162  included in the first tilt actuator  160   a , and an attractive force may be created between the driving elements  161  and  162  included in the second tilting actuator  160   b , such that the first movable body  130  may rotate in a clockwise direction. As the first movable body  130  is tilted in a clockwise direction, the elastic member  168  adjacent to the second tilt actuator  160   b  may be deformed such that a moment in a counterclockwise direction may be provided to the first movable body  130 . 
     When the driving elements  161  and  162  included in the first tilt actuator  160   a  or the second tilt actuator  160   b  are a coil and a yoke, only an attractive force may be created between the driving elements  161  and  162 , and no repulsive force may be created. In this case, only the attractive force created between the driving elements  161  and  162  may tilt the first movable body  130 . 
       FIGS.  6  and  7    illustrate examples of tilting of the first movable body  130 , illustrating the rotation of the first movable body  130  about the Y-axis direction. The first driver may include three or more tilt actuators, and by a combination thereof, the first movable body  130  may rotate about several axes orthogonal to the optical axis O. 
     2.3. Reluctance 
     2.3.1. Translation Driver 
     In an example embodiment, the first OIS driver  120  may not include a permanent magnet. In an example embodiment, when no current flows in the driving coil  122 , the magnetic field caused by the driving yoke  121  may be zero or may have a relatively small level. Accordingly, the magnetic field caused by the first OIS driver  120  may be prevented from affecting the other electronic components (e.g., the other electronic components in the camera module  1 , or the electronic components in the other camera module  1 ) or the effect of the magnetic field on the other electronic components may be reduced. 
     In an example embodiment, the yoke (e.g., the members referred to as a yoke in the example embodiments, such as the driving yoke  121  and the yoke  123  in  FIG.  2 A ) may be formed of a soft magnetic material. A soft magnetic material may have a small coercive force and may be magnetized when exposed to a magnetic field, but when the magnetic field disappears, a soft magnetic material may lose magnetism or may have a relatively low level of magnetism. 
     When a current is applied to the driving coil  122 , the driving yoke  121  may be magnetized, such that reluctance force may be created between the driving coil  122  and the driving yoke  121 . Attractive force may be created in a direction in which the driving yoke  121  and the driving coil  122  oppose each other, such that the second movable body  110  may move in the corresponding direction with respect to the first movable body  130 . For example, referring to  FIG.  4   , when a current is applied to the first driving coil  122   a , an attractive force may be created between the first driving coil  122   a  and the first driving yoke  121   a , such that the second movable body  110  may move in the −X-direction. Conversely, when a current is applied to the second driving coil  122   b , an attractive force may be created between the second driving coil  122   b  and the second driving yoke  121   b , such that the second movable body  110  may move in the +X-direction. 
     2.3.2. Tilting Driver 
     In an example embodiment, the second OIS driver  160  may not include a permanent magnet. For example, one of the first driving element  161  or the second driving element  162  may be a coil and the other may be a coil or a yoke. When both the first driving element  161  and the second driving element  162  are coils, an attractive force or a repulsive force may be created between the first driving element  161  and the second driving element  162  according to the directions of currents flowing through the two coils. When the first driving element  161  is a coil and the second driving element  162  is a yoke, and a current flows in the coil, reluctance force may be created between the yoke and the coil. 
     In an example embodiment, when no current flows in the second OIS driver  160  (or the coil included in the second OIS driver  160 ), the magnetic field due to the second OIS driver  160  may be zero or may have a very small level. Accordingly, the magnetic field caused by the second OIS driver  160  may be prevented from affecting the other electronic components (e.g., the other electronic components in the camera module  1 , or the electronic components in the other camera module  1 ) or the effect of the magnetic field on the other electronic components may be reduced. 
     2.4. Flexible Substrate Deformation 
       FIGS.  8 A to  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 bridge  147  may provide a restoring force for returning the movable portion  141  in the direction opposite to the moving direction (the +X-direction). Accordingly, when no current is applied to the first OIS driver  120 , 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 a restoring force to return the movable portion  141  in the direction opposite to the moving direction (the −X-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 movable portion  141  to the guide  146  may be deformed. Since the bridge elements  144  included in the second bridge  148  have elasticity, the deformed second bridge  148  may provide a restoring force to return the movable portion  141  in the direction opposite to the moving direction (the −Y-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 movable portion  141  to the guide  146  may be deformed. Since the bridge elements  144  included in the second bridge  148  have elasticity, the deformed second bridge  148  may provide a restoring force to return the movable portion  141  in the direction opposite to the moving direction (the +Y-direction). 
     2.5. Mover Deformation 
       FIGS.  9 A and  9 B  are diagrams illustrating a sensor holder  213 ,  313  having a form different from the example in  FIG.  2 A . 
     Referring to  FIG.  9 A , the sensor holder  213  may be disposed on the sensor substrate  112 . In an example embodiment, the sensor holder  213  may include a plate  213   a  disposed on the sensor substrate  112  and an extension portion  213   b  extending downwardly (in the −Z direction) from the edge of the plate  213   a . The extension portion  213   b  may oppose the driving coil (e.g., the driving coil  122  in  FIG.  2 A ) of the first OIS driver  120 , and the driving yoke (e.g., the driving yoke  121  in  FIG.  2 A ) of the first OIS driver  120  may be seated on the extension portion  213   b . In another example embodiment, the driving yoke may be mounted on the first movable body  130  and the driving coil may be mounted on the sensor holder  213 , and in this case, the driving coil and/or the yoke (e.g., the yoke  123  in  FIG.  2 A ) may be seated on the extension portion  213   b . As compared to the sensor holder  113  in  FIG.  2 A , the sensor holder  213  in  FIG.  9 A  may be more advantageous in avoiding interference with a solder ball connecting the sensor substrate  112  to the substrate  140 . Also, when the sensor holder  213  is disposed on the upper side of the sensor substrate  112 , the thickness of the sensor holder  213  may be relatively freely increased, which may improve mechanical rigidity of the sensor holder  213 . 
     Referring to  FIG.  9 A , the image sensor  111  may be connected to the sensor substrate  112  at corresponding contact points P 3  and P 4  through a conductive via. 
     Referring to  FIG.  9 B , the sensor holder  313  may be disposed on the sensor substrate  112 . In an example embodiment, the sensor holder  313  may include a plate  313   a  disposed on the sensor substrate  112  and an extension portion  313   b  extending downwardly (in the −Z direction) from the edge of the plate  313   a . The extension portion  313   b  may oppose the driving coil (e.g., the driving coil  122  in  FIG.  2 A ) of the first OIS driver  120 , and the driving yoke (e.g., the driving yoke  121  in  FIG.  2 A ) of the first OIS driver  120  may be seated on the extension portion  313   b . In another example embodiment, the driving yoke may be mounted on the first movable body  130 , and the driving coil may be mounted on the sensor holder  313 , and in this case, the driving coil and/or the yoke (e.g., the yoke  123  in  FIG.  2 A ) may be seated on the extension portion  313   b . As compared to the sensor holder  113  in  FIG.  2 A , the sensor holder  313  in  FIG.  9 B  may be more advantageous in avoiding interference with the solder ball connecting the sensor substrate  112  and the substrate  140 . Also, when the sensor holder  313  is disposed on the upper side of the sensor substrate  112 , the thickness of the sensor holder  313  may be relatively freely increased, which may improve mechanical rigidity of the sensor holder  313 . 
     Referring to  FIG.  9 B , the image sensor  111  may be directly mounted on the sensor substrate  112 . Accordingly, the sensor holder  313  may include a through portion  313   c  in a portion corresponding to the image sensor  111 . The image sensor  111  may be seated on the sensor substrate  112 , and a terminal of the image sensor  111  and a terminal of the sensor substrate  112  may be connected to each other through wire bonding. 
     According to the aforementioned example embodiments, the camera may provide effective optical image stabilization with low power. Also, according to an example embodiment, the effect of the magnetic field of the actuator driving the image sensor on the electronic component disposed outside the camera may be eliminated or reduced. 
     The AF driver  23 , OIS drivers, first and second OIS drivers, OIS driver  12 ,  120 ,  160 , first, second, third, and fourth unit drivers  120   a ,  120   b ,  120   c ,  120   d , sensors, sensor shifting modules, sensor shifting modules  10 ,  100 , image sensors, image sensors  11 ,  111 , actuators, tilt actuators, first tilt actuators  160   a , second tilt actuators, tilt actuators  160   b ,  160 - 1 ,  160 - 2 ,  160 - 3 , and  160 - 4 , position sensors, position sensors  127 ,  167 , processors, memories, and other apparatuses, devices, units, modules, and components described herein with respect to  FIGS.  1 - 9 B  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 - 9 B  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 example embodiments 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.