The nervous system coordinates rapid responses to internal and external changes through chemical and electrical signaling. It evolved from simple diffusion-based chemical signaling in early organisms to more complex nervous systems in vertebrates with segmented bodies. The human nervous system has a central brain and spinal cord surrounded by protective meninges, and peripheral nerves that connect to sensory receptors and muscles. Nerve cells communicate via electrical impulses that travel along axons, which may be insulated by myelin sheaths for faster transmission, to synapse with other cells.