diff --git a/psConfig/homecoming/homecoming.conf b/psConfig/homecoming/homecoming.conf
new file mode 100644
index 0000000000000000000000000000000000000000..1d95fb9b0f88f59a6971c4ce8485832ef2027f90
--- /dev/null
+++ b/psConfig/homecoming/homecoming.conf
@@ -0,0 +1,25 @@
+[main]
+startdb=45;
+uttdb=53;
+silence=800;
+timeout=8;
+openDeviceDirectly=yes;
+alsadevice=sysdefault;
+
+
+[pocketsphinxinstance]
+name=confirm;
+dict=../../../psGrammar/dictionary/tobiDic.dic;
+jsgf=../../../psGrammar/confirm/confirm.jsgf;
+rostopic=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=assistance;
+dict=../../../psGrammar/dictionary/tobiDic.dic;
+jsgf=../../../psGrammar/homecoming/assistant.jsgf;
+rsbscope=/speechrec/psa/assistance;
+bestpath=no;
+autoload=yes;
+
diff --git a/psGrammar/homecoming/assistance.jsgf b/psGrammar/homecoming/assistance.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..956b1c2bafacc17e874ff6ee7746320c18aff715
--- /dev/null
+++ b/psGrammar/homecoming/assistance.jsgf
@@ -0,0 +1,11 @@
+#JSGF V1.0;
+grammar ToBI_assistance;
+public <statement> = [<robot>] [<verb>] [<article>] <objects> [please];
+
+<objects> = <object>;
+<object> = snacks | cracker | drinks; 
+
+<verb> = (bring me) | bring | (I want);
+<article> = the | an | some | a | this;
+<robot> = (tiago)| (tobi) | (robot);
+