Having thought about this for a while, I'd suggest that one of the most fundamental parts would be holders for either circuit board or individual components / wires, that could set them rigidly in the ideal orientation for the person doing the soldering.
eg. Something like spring loaded "V" slots to grip a PCB plus a couple of gooseneck alligator clips for steadying wires or a solder dispenser.
And the whole thing settable in any rotation or orientation.
I'm guessing, but I suspect one of the limitations for someone with restricted movement would not so much be where to move the iron tip, but getting both the position and ideal orientation while holding it steady, when trying to work with wires or a PCB that are laying on a bench or desk and can slide around?