You can buy a remote controlled shock collar on Amazon. The voltage is adjustable. I have one which has three modes. The first mode emits a beep. The second mode delivers an adjustable vibration. The third mode delivers an adjustable shock.
I have yet to find it necessary to go beyond a slight vibration.
These collars are a godsend and work like a charm.
After just a few uses, all I have to do is put the collar on my dog and she immediately changes her behavior.
They also work to prevent your dog from bolting out the door and running away.