Final answer:
The somatic nervous system innervates skeletal muscle, enabling voluntary movements.
Step-by-step explanation:
The nerves of the somatic nervous system specifically innervate the skeletal muscle type. This system is responsible for voluntary movements, such as those we perform when exercising or performing daily tasks. The somatic nervous system's control contrasts with that of the autonomic nervous system, which influences cardiac muscle and smooth muscle, associated with involuntary body functions like heart rate and digestion, respectively.