moan

the sound people and animals make when they are in pain

he will hear my voice

Here "voice" represents either 1) the psalmist or 2) the psalmist's complaints and moans. AT: "he will hear me" or "he will hear my moaning" (See: rc://en/ta/man/translate/figs-synecdoche and rc://en/ta/man/translate/figs-metonymy)