In Book III Aristotle divided actions into three categories instead of two:
Voluntary (ekousion) ••••••••.
power —a power, an act, or a habit?
desire Does it desire all things of necessity, whatever it desires?
said Descartes specifically said that error comes about because the will is not limited to judging things which the understanding is limited to, and described the possibility of such judging or choosing things ignorantly, without understanding them, as free will.