The pitch (frequency) of your voice is caused by air in your voice box (I’m sure that has a more technical term, but I don’t know it…) and that pitch will depend on the air in the voice box and how big the voice box is. So I guess (this is just a guess) that the speed of sound in Helium is faster than that of regular air and as such you have a higher pitch? Or maybe it does something to reduce the size of the voice box, this would have the same effect, but my first answer seems more likely…
Maybe one of the other scientists knows for sure though…?
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