I don't believe it can be done without hevering your mouse over the joint you want to move, but if you do you can use the following buttons to move joints:
Z: Contract/Extend selected joint
X: Hold/Relax selected joint
C: Hold/Relax all joints
V: Grab with both hands
B: Toggle ghosts on/off
yes, you can control the whole tori the with keyboard shortcuts only
http://forum.toribash.com/showthread.php?t=432408
they are configurable, and at first were thought to be used on numpad
but since you can config, you can set it up any way you desire, even vim-like
yes, the script still work so enjoy and express your graditude to Daanado