Consist of nerve fibers that convey impulses to the CNS from sensory receptors located in various parts of the body. Sensory fibers that deliver impulses from the skin, skeletal muscles, and joints called somatic (soma = body) sensory fibers. Sensory fibers that transmit impulses from the visceral organs called visceral sensory fibers or visceral afferents. Keeps the CNS constantly informed of events going both inside and outside the body.