  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.
