Oh man, I can already see the court cases of a certain robot's voice sounding a little too similar to a deceased human's that it should make royalty payments.
(choose English(USA) - "Little Creature". Borked on Firefox but works in Chrome)
"Little Creature" my ass.
Apparently, names are IP, voices not so much. But we can't have nice things because like you said - eventually, someone's going to figure out how to file an effective lawsuit.
I don't see it as being very different than using someone's face to promote something.
For example, should a lifelike digital model (or even a still image) of an actor's face still generate royalties for the actor's family after their death? Both cases are using a unique attribute of the person to promote something.