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I think the 4S-specific hardware is the improved proximity detector. This allows you to raise the phone to your ear and speak to Siri instantly. I suspect the older phones' proximity sensor isn't fast enough to support that feature, so Apple figured they'd go 4S only. (It can't hurt that they sell more phones that way.)

Actually, Apple included an additional proximity detector to make sure Siri works when you bring the phone to ear. Here's iFixit report:

http://www.ifixit.com/blog/blog/2011/11/09/little-sister-sir...

This means that Siri won't provide optimum experience (pick the phone to ear and Siri is ready to take the command) for iPhone4 and older versions.

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