Table 1.

Overview of the integrated commands for voice control of the robotic US

Voice command	Explanation
Translation	Starts the translational navigation mode
Rotation	Starts the rotational navigation mode
Stop	Deactivates the current selected navigation mode & the detection of symbolic activation gestures
Save	Opens the visualization for assignment options for saving poses
Cancel	Closes the visualization for pose assignment options
Move to	Opens the visualization for assignment options for moving to saved poses
Sphere, Pyramid, Cube	Selects the assignment for saving and for moving to poses
End	Ends the current interaction task, moves the robot to the specified starting position and resets the saved poses
Start	Activates the detection of symbolic activation gestures