Is there any kind? Perhaps with some legacy hardware, etc? I remember having this on Dreamcast and wouldn't mind revisiting the game with something other than the floaty mouse controls.

Try using this - http://sourceforge.net/projects/xpadder/

You could use something like Xpadder as triock suggested, but you would still have to deal with the cursor-based interface for combat and movement. I don't think having to use a thumbstick to move the cursor would be an improvement over using mouse and keyboard, but that's just my opinion.