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There is a deeply rooted and widely held moral intuition to the effect that a person is responsible only for what he does voluntarily. This intuition is the basis for doctrines of both criminal law and tort law. Although most forms of liability in criminal law or in tort rest on some form of culpability or fault (such as purpose, knowledge, recklessness, or negligence), strict liability crimes or torts require only a voluntary act or omission of a specified type.

In criminal law, the prosecution has traditionally been required to prove that the defendant performed an actus reus (voluntary conduct) with a certain mens rea (guilty state of mind), and that this voluntary conduct caused the proscribed harm to the victim or constituted the proscribed type of behavior. Courts hold individuals liable in tort for conduct that causes harm intentionally, negligently, or in strict liability. That conduct may take the form of action or of the failure to act when the individual had the duty and ability to act.

Aristotle (384–322 BCE) was the first philosopher to analyze voluntariness and responsibility. He defined voluntary action largely by exclusion, by specifying the conditions under which one should morally excuse an actor's conduct on grounds of involuntariness. According to Aristotle, an agent is responsible for conduct unless (1) he “could not help it”—that is, he could not have stopped himself even if had he wanted to; or (2) he “did not know what he was doing” and his ignorance was nonculpable. Aristotle's analysis of two kinds of involuntariness has held up remarkably well through the ages.

Voluntariness and the Capacity for Bodily Control

Some bodily movements are within the direct, conscious control of the agent. For example, a person can move his arm or stick out his tongue simply by willing or choosing to do so. Other bodily movements are not subject to deliberate, conscious control. Autonomic functions, such as the peristalsis occurring within a person's digestive tract and the beating of a heart, are such that a person cannot start or stop them at will. This phenomenological distinction, presumably corresponding to different paths within the brain and nervous system, is the basis for various moral intuitions relevant to law.

It is important to note that when we say bodily movements are voluntary, we do not necessarily mean that the agent is thinking consciously or deliberately about the actions at the time he performed them. We mean only that the agent had the capacity to stop or alter the relevant conduct through the exercise of conscious choice. Consider the case of an agent driving home late at night, his conscious mind on matters other than his driving. He performs actions such as turning the steering wheel, putting foot pressure on the pedals, shifting gears, and so on. He may not be conscious of such actions while performing them, and he does not reason or deliberate about whether to perform them. Still, all these actions are voluntary on his part, because he retains the capacity to control them through conscious thought and effort. Certainly, such actions could lead to legal liability if he is reckless or negligent and harms someone.

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