Yes, generally it is good to rub your dog's ears, as it can be a very enjoyable and relaxing experience for them.
Rubbing a dog's ears, when done gently and in a way they enjoy, can trigger the release of endorphins. These are "feel-good" hormones released by the brain that can reduce stress and promote a sense of well-being. The reference text specifically states that nerve impulses sent through the hypothalamus and pituitary glands secrete endorphins, making the dog feel relaxed, mellow and very happy. This is similar to the effect humans experience during exercise.
However, there are some important caveats:
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Individual Preferences: Not all dogs enjoy having their ears rubbed in the same way or at all. Pay attention to your dog's body language. Signs of enjoyment include relaxed posture, leaning into the touch, soft eyes, and perhaps even a gentle moan or sigh. Signs of discomfort include pulling away, stiffening, lip licking, yawning (a sign of stress), or even growling.
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Ear Infections/Sensitivity: If your dog has an ear infection or sensitive ears due to allergies or other conditions, rubbing their ears could be painful and should be avoided. If you notice redness, swelling, discharge, or excessive head shaking, consult your veterinarian.
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Gentle Pressure: Use gentle pressure when rubbing your dog's ears. Avoid pulling, pinching, or squeezing too hard.
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Start Slowly: Begin with a gentle petting motion and gradually increase the intensity if your dog seems to enjoy it.
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Respect Boundaries: If your dog moves away or shows signs of discomfort, stop rubbing their ears immediately.
In Summary: Rubbing your dog's ears can be a great way to bond with your pet and provide them with a relaxing experience, provided you are gentle, attentive to their body language, and ensure they don't have any underlying ear issues.