Assistance robots are the future for people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs only provide limited additional mobility at the cost of increased size. We present a mouth joystick control interface, augmented with voice commands, for an independent quadrupedal assistance robot with an arm. We validate and showcase our system in the Cybathlon Challenges February 2024 Assistance Robot Race, where we solve four everyday tasks in record time, winning first place. Our system remains generic and sets the basis for a platform that could help and provide independence in the everyday lives of people in wheelchairs.

翻译：辅助机器人是未来因行动受限或轮椅依赖而需要日常护理人群的希望。当前将机械臂安装于电动轮椅的方案虽然能提供一定额外移动能力，但代价是设备体积增大。我们提出了一种结合语音指令的嘴部操纵杆控制接口，用于控制配备机械臂的独立四足辅助机器人。该系统在2024年2月"Cybathlon挑战赛"辅助机器人比赛中得到验证与展示，我们以创纪录速度完成了四项日常生活任务并获得冠军。该方案具有通用性，为构建能够帮助轮椅使用者实现日常独立生活的平台奠定了基础。