The nervous system is composed of two main divisions: the central nervous system (CNS) containing the brain and spinal cord, and the peripheral nervous system (PNS) containing nerves. Sensory neurons carry messages from receptors to the CNS for integration, then motor neurons carry output commands to effectors. There are two types of motor actions - somatic in skeletal muscle controlled voluntarily and autonomic in smooth and cardiac muscle controlled involuntarily with sympathetic and parasympathetic divisions. The cells of the nervous system are neurons, which transmit nerve impulses, and neuroglia which are supporting cells like oligodendrocytes that form a myelin sheath insulating neurons in the CNS and Schwann cells insulating neurons in the