In Nelson's case, the voluntary act that underlies her criminal liability is her act of driving the vehicle. That is, not all crimes are defined in terms of a specific type of conduct. Seemingly, any voluntary act or omission of the defendant will support criminal liability under this statute, as long as the State proves that the defendant's act caused the proscribed result and that the defendant acted with the specified culpable mental state. The parties have not briefed this question, and Nelson's case does not require us to resolve it. But the legislature used adverbs to define these culpable mental states.
English syntax demands such usage.