Joy Stick Control...!

I've never created on but, I can't see why not. If you don't use the program and have it set up with servos like a remote cantrol car, I would think it would work.

In VSA, you can record individual servos with a joystick.
Evil Bob developed a piece of software called Parlay that allows you to record all the servos in a 3-axis skull at once. I haven't used it, but search the forums for it.

Easy peasy. But real-time puppetry can be done with cable control. Servos are better controlled by computers.