We aimed to develop a carrying-assist robot for care-required people. The robot was designed to carry a pill case or small box like tissue box size by user friendly interface. Although the robot was designed to carry the object to a user automatically after detecting a target object by the image processing, the recognition rate was very low because the target object which was a box shape was extremely difficult to be distinguished from other objects. Therefore, we developed the control interface using the voice recognition system which can recognize 10 voice commands with the recognition rate of 86.5%. The developed robot successfully carried the pill case from the desk by the users' voice commands. Feedback from actual users' opinion about operationality and functions is required in the next step.