Hey! qDot here, FxOS systems engineer, ex robotics engineer, reluctant arduino 
class teacher, etc etc etc

So on FxOS currently, we've got RFCOMM sockets available in the low level 
platform, but only in service of getting headsets and file transfer over 
bluetooth working via DOM APIs. Not only that, they can only be accessed via 
certified apps, meaning whatever we ship with the phone. So, not horribly 
useful for external I/O boards.

That said, I don't think it'd be a huge issue (not a trivial engineering feat, 
but not huge either) to tack on raw bluetooth serial sockets, which is what 
most platforms I'm familiar with use. I don't foresee us having resources/need 
to do this internally any time soon, though.

I'm not sure about what network APIs we're going to be exposing, but it could 
be worth prototyping interfaces via network also.

For both bluetooth and USB, the thing to remember is that while we're certainly 
focusing on phones for our product, we'd like to see FxOS run on anything that 
can deal with it. Pandaboard, RPi, etc... We either have had or currently have 
projects (internal and external) going to run on these, and the goal of WebAPI 
is standards across /all/ platforms, not just mobile. So I wouldn't view USB 
via OTG only as a barrier just yet, as we want to be able to support all USB. 
As someone who's written USB drivers before, I'm definitely looking forward to 
browser as cross-platform driver layer, however odd that may sound.

And yes, anyone who thinks you're going to get realtime out of this, prepare to 
have your hopes dashed. We're most certainly not up to that level yet, so don't 
plan on hooking your kinect up to your phone and doing skeleton tracking with 
FxOS as the lone processor any time soon. :)
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