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One option would be a Pioneer 530 DVD recorder. (I have one of these together with Sky+). The DVD recorder uses the Guidestar EPG and can change channel on the Sky box. The Guidestar EPG is not as good as the Sky EPG though. For example, it can record every week at the same time but has no true series link so if a program's broadcast time is changed you will miss it. Also it only includes an EPG for about 20-30 of the "main" Sky channels e.g. BBC, ITV, C4, C5, Sky One, some movies, etc, but does not include channels such as FX. With the DVD recorder solution you cannot record one Sky channel and watch another though.
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