Thermoreception
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Thermoreceptors, including cold-detecting Krause end bulbs and warmth-detecting Ruffini endings, detect temperature along pathways that also carry pain signals to the brain.
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A stimulus that starts as tolerable heat can rapidly become perceived as pain once its intensity crosses a threshold.
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Cold detectors sit nearer the skin surface than warmth detectors, which is why cold registers before warmth at the same intensity.