H.E.L.P.eR. stands for "Humanoid Electric Lab Partner Robot." It's discussed during the audio commentary on The Venture Bros.: Tag-Sale: You're It! (2004) that Jackson Publick/Christopher McCulloch originally voiced the sounds for H.E.L.P.eR. Then Doc Hammer ran this through Soul-bot, a robot that they have at Astrobase Go! to give us H.E.L.P.eR. sounds. You can see Soul-bot at the end of every episode in the Astrobase Go! i.d. It was also discussed that they gave up making new sounds after a while and just use the same ones over and over.
Hank! I had my pubes shaved. I'm gonna put them under the pillow for the tooth fairy!
Hank Venture: Did the doctor see that creepy dog dork of yours?
Dr. Venture: Hank, don't brag to your brother about your circumcision.
Rick Lacy is credited as Rick "Danger" Lacy.