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A recall election is a procedure by which, in certain polities, voters can remove an elected official from office through a referendum before that official's term of office has ended. Recalls, which are initiated when sufficient voters sign a petition, have a history dating back to the constitution in ancient Athenian democracy and feature in several current constitutions. In indirect or representative democracy, people's representatives are elected and these representatives serve for a specific period of time. However, where the facility to recall exists, if any representative comes to be perceived as not properly discharging their responsibilities, they can be called back with the written request of a specific number or proportion of voters. Even where they are legally available, recall elections are only commonly held in a small number of countries including the United States, Peru, Ecuador, and Japan. They are considered by groups such as ACE Electoral Knowledge Network the most rarely used form of direct democracy.