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This article presents a system which allows interaction between a physically disabled person and his environment. It contributes to achieve an Ambient Assisted Living (AAL). This system is controlled by voluntary muscular movements, particularly the orbicular ones. These movements are translated into instructions which are sent by means of a wireless link to a mobile robot that executes them. This robot includes a video camera in order to show the environment of the route that the robot follows on its way to the user. It also includes a subsystem that contains light and sound signals. This system can aid people with reduced mobility, extending the time that older people and disabled people can live in their home environment, increasing their autonomy and their confidence.