That verse can't be used to declare that the human voice is to be preferred in musical praise above instruments. The voice may indeed be preferred, but that verse doesn't prove it.
The reason is that this is not in a musical context. And even if it were- if perhaps I have overlooked some Greek term which yields to musical context (I've not taken the time to exegete the passage thoroughly)- it still is not declaring the superiority of the voice to instruments in musical praise.
It is simply saying- Praise him with your lips. That doesn't negate praise with your hands uplifted or praise with the harp and timbrel.
If I tell you to go to the grocery store and buy me some milk- that doesn't mean I am telling you that milk is the only thing you can buy. It doesn't mean that milk is my favorite thing in the world. It doesn't mean that I prefer milk to grape juice. It doesn't mean that later on I will not tell you to go to the store and buy me some grape juice.
The fact that the lips are commended for praise here does not exclude the fact that God commends other instruments of praise elsewhere. All the passage does is make certain that among the things that we praise God with should most certainly be our lips.
To a point, I agree with you about the Hebrews verse. However, the word "Praise" is most often used in this context in a musical setting. However, I agree it may be extended to other aspects though I believe it is most rightly seen in singing. It places the emphasis on all areas on the voices.
As well, when we talk about the "praises of God's people" there are two points I think needs to be made. First, the philosophical. Can we agree that in worship we have to have the singing of psalms, hymns, and spiritual songs? Can we agree that this does not require musical instruments? It seems reason enough that what is required and most important are the voices of God's people. While instruments are not evil, they are not necessary. Voices are required in the congregation of God.
Secondly, Scripture points to singing, not to instruments, as being the cornerstone of praise. I cited Hebrews 13:15, but we should also note Ephesians 5:19 and Colossians 3:16. They make no mention of musical instruments but placing the imperative on "Singing" or the voices of God's people. While instruments are not forbidden and I believe implied as a part of worship, instruments are not the imperative, singing is the imperative. Psalm 149:1 intrinsically links praising and the singing of the congregation. Again, while instruments are used, they are not used in the imperative. WHile there are verses to allow us to sing with an instrument, they are not always required. Psalm 100 says to come into his presence with "Singing."
So, when the Bible talks about praises to God, there is no instrument like that of the voices of God's People.