Sensory receptors detect environmental stimuli and transduce them into nerve impulses. There are two main types of sensory receptors - free nerve endings and specialized receptor cells. Sensory receptors each respond to a specific modality or form of information, like temperature, pressure, or chemicals. While each type of receptor responds to a different stimulus modality, they all produce the same type of nerve impulse. The central nervous system perceives the different modalities as distinct due to the different pathways that each receptor type stimulates.