Scientific evidence proves that dogs know when we're happy or sad. And they prefer us to be happy. On the whole, dogs are better at picking out happy faces than sad ones, but this may have been because unhappy ones come with negative associations (a rolled-up newspaper).
But the scientists can't decide if all of this is due to the animal's nature or nurture. But the bottom line is that dogs get clues from our faces about how we're feeling.
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