  Assistive robots have attracted significant attention due to their potential
to enhance the quality of life for vulnerable individuals like the elderly. The
convergence of computer vision, large language models, and robotics has
introduced the `visuolinguomotor' mode for assistive robots, where visuals and
linguistics are incorporated into assistive robots to enable proactive and
interactive assistance. This raises the question: \textit{In circumstances
where visuals become unreliable or unavailable, can we rely solely on language
to control robots, i.e., the viability of the `linguomotor` mode for assistive
robots?} This work takes the initial steps to answer this question by: 1)
evaluating the responses of assistive robots to language prompts of varying
granularities; and 2) exploring the necessity and feasibility of controlling
the robot on-the-fly. We have designed and conducted experiments on a Sawyer
cobot to support our arguments. A Turtlebot robot case is designed to
demonstrate the adaptation of the solution to scenarios where assistive robots
need to maneuver to assist. Codes will be released on GitHub soon to benefit
the community.
