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The "impulses" to skeletal muscles come primarily from alpha motor neurons in the ventral horn of the spinal cord. These neurons release acetylcholine on the muscles, which causes sodium to enter the muscle, leading to contraction. The alpha motor neurons themselves get input from several sources, such as the primary motor area in the cerebral cortex of the brain. However, even this brain area gets input from other brain areas, including sensory areas. In a certain sense, the impulses to the muscles "originate" from the environment in the form of sensory signals.

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