Frankly, I wouldn’t say so. Dogs don’t really understand intentions or accidents. If you hurt them, they aren’t going to think that it wasn’t on purpose. But if anything, it would just create avoidance behaviors. For example: if you always step on the dog when he is under the table, he will probably stop going under the table. Not to confuse that with training, of course. That wouldn’t be a healthy way to teach your dog anything! But a few accidental pokes and jabs now and then won’t ruin your dog, no worries. It would have to be consistent for the dog to exhibit behavioral changes.