Aside from the recent progresses in robotics, autonomous robots are still limitedin assisting disabled people. On the contrary, the animal, especially dogs, havedemonstrated real skills to support the human being in many everyday life situations, suchas rescue (avalanches, earthquakes...), smell detection (drugs, explosives or even cancers),handicap assistance (blind, deaf, motor or cognitive disabled people)... However, eachsystem, the robot or the dog, has its own limitations: a step or a hole can fatally immobilizethe machine and a cat may easily distract the animal. Due to the limitations andcomplementarities between a service dog and an assistive robot, the idea of the Cochiseproject is to develop a hybrid system animal/robot that will take advantage of both to bemore efficient. In the present study, this approach is applied to assist people with motordisabilities. The robot is used to “augment” the service dog by increasing its control fromthe human being. This machine is a mediator that translates and transmits the dog state tothe human user, on one hand, and enables the person to trigger predetermined behaviors ofthe animal, on the other hand.