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Sensory neurons (afferent neurons) are unipolar, bipolar, or multipolar shaped cells that conduct action potentials toward or into the central nervous system. They carry somatic nervous system signals from the skin, joints, skeletal muscles, sensory organs (eyes, ears, mouth, and nose). They also carry autonomic nerous system signals from the visceral organs (heart, lungs, vessels, etc).
Several neurons synapse on the same postsynaptic neuron which allows for several different patters of sensory inputs to have the same effect i.e. contraction of diaphragm to be voluntary or involuntary