Final answer:
The Central nervous system (CNS) contains structures and neurons that connect receptors within the skin, muscles, and joints to the cerebellum, facilitating perception and voluntary movement through the transmission of sensory information and motor commands.
Step-by-step explanation:
The system that contains structures and neurons connecting receptors within the skin, muscles, and joints to the cerebellum is the Central nervous system (CNS). This system includes the brain, of which the cerebellum is a part, and the spinal cord. The sensory-somatic nervous system, which is a functional division of the peripheral nervous system, transmits sensory information from these receptors to the CNS, and motor commands from the CNS to the muscles. This demonstrates the cooperative relationship between the somatic and central aspects of our nervous system that make perception and voluntary movement possible. When sensory receptors detect stimuli, such as touching a hot surface, they send electrical impulses to the spinal cord and brain to process the information and initiate an appropriate response, such as withdrawing the hand.