On Friday I managed to enable my PS3 sixaxis controller to work with the robot arm! It's not as impressive as the voice control, but the code might come useful to me someday. The PS3 controller uses bluetooth and acts like a joystick HID device, and I used pygame to help me process the input events.
Additionally, using this I can actually move several joints at the same time. I'll be posting a short tutorial, code and a demo video as well soon!