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Afferent nerves are the type of nerves responsible for transmitting sensory information from the peripheral nervous system to the central nervous system. They carry signals related to sensations such as touch, pain, temperature, and proprioception, allowing the brain to receive essential information about the body's internal and external environments.

This function is crucial for establishing awareness and responding to stimuli effectively. In contrast, efferent nerves carry information away from the central nervous system to execute actions, such as muscle movements or glandular responses. Somatic nerves are a subtype of efferent nerves that specifically control voluntary movements of skeletal muscles. Autonomic nerves are involved in controlling involuntary functions, such as heart rate and digestion, without conscious thought. Hence, they do not engage in directly transmitting sensory information. This distinction highlights why afferent nerves are the correct answer for this question.