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A voluntary action is one that is consciously done. You want to pick something up, so you make the motion with your arm, hand (and even body) to reach, lower, close your fingers around, and lift the object. A reflex action is one that you don't think about and happens without deliberation. When your hand accidentally touches a hot stove, your arm jerks away without your conscious deliberation. When a doctor hits a certain part of your knee with a rubber mallet and your leg jumps, that is a reflex. It cannot be controlled.