Yes, you can use for e.g kinputwizard (included in kbluetooth package).
In order to connect BlueMaemo without touching the computer, you have to first connect the device using hidd or kinputwizard, in order to your computer appear in the know devices list, after that you can select "reconnect" in the BM initial menu, in next time you start BM. You can also auto-connect to a specific device, for that go to the setting screen in the BM main menu.