Sony ERS-312 - Manual (Page 40)

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From you to AIBO
There are number of ways that you can communicate with AIBO: touching AIBO,
showing an object such as a ball to AIBO, talking to AIBO, calling its name and
etc.
Communicating by touch
The body of AIBO has a total of six switches consisting of three types that allow
AIBO to perceive touch.
You can give AIBO various information by changing how to touch it.
Head
Praising/Scolding Tail switch
Praising/Scolding
Paw switches (four)