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There are basically two kinds of neurons- sensory and motor. Motor neurons are responsible for passing on messages from the brain, to the effector muscles, while performing a voluntary action (they also do that for involuntary actions)

Sensory neurons on the other hand, detect a stimulus, and pass on the message to the brain, which analyses the information, decides the course of action, and passes on the message back through the motor neuron, to the effector muscles.

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