From You To Aibo; Communicating By Touch - Sony AIBO Life 2 ERS-210 Handbuch

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, etc.

Communicating by touch

The body of AIBO (ERS-220) has a total of ten sensors consisting of five types
(seven sensors consisting of four types for ERS-210) that allow AIBO to perceive
touch.
You can give AIBO various information by changing how to touch it.
Head sensor
Praising/Scolding
Face sensor
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Tail sensor (right)
Tail sensor (center)
Tail sensor (left)
Back sensor
Paw sensors (four)