I have some medical conditions

I have some medical conditions which impede my balance and motion/dexterity in my hands and arms, added to this I am deaf and often don't know if I am shouting, talking at normal volume or whispering, hence voice annotation/instruction isn't always a viable work around to this problem.

By making the input in the form of a 'gyro-joystick' interim software and potentially computer vision as a confirmation of my actions removing the tremor or spasms from my hands and arms into smoother, targeted motion through a multi degree of freedom robotic arm. Perhaps with the ability in time to automatically change different grips/digits from the wrist of the robotic arm.

The option of how such a solution can enhance my life and expand to more tasks could even lead to a commercial product for others with similar conditions or restrictions in their movement.

Further down the road it would be interesting to enable the solution to be able to work away from where I am, this would require also require a suitable means of navigating it's way around my home.

I would like to gain a better understand the input options, processor functions/responsibility and if in addition to I2C there are RS-485/422 and SPI ports available, so far the documentation I have seen looks to be rather light in detail on these matters.

Many thanks, I look forward to learning more about your platform and the development of solutions to assist myself and possible others too.