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Afference and efference neural impulse transmission

As per the function of transmitted neural impulse that are the types of neurons? How the concepts of afference and efference  neural impulse transmission are different?

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There exist three types of the neurons:

a) Afferent neurons,

b) Efferent neurons and

c) Interneurons.

Afferent neurons are those that only transmit sensory information from the tissues to the neural nuclei and to the ganglia, where they make connection with the interneurons or effector neurons. Efferent neurons are those which transmit commands to tasks which are executed in various parts of the body. Interneurons , also called as relay neurons or association neurons, which serve as connection between the two other neurons. Afference refers to the conduction of sensory impulses and efference refers to the conduction of effector impulses, impulses which command action of some body.

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