So I constantly seem to be asking the question, can we use Apple Pencil with VoiceOver. The short answer is, shmaybe... It can be used with the VoiceOver handwriting feature but it's a very expensive stand in for a finger or inexpensive stylus. When I ask apple accessibility directly they said it can be used as normal but it isn't an experience they would recommend.
they have said there is interest in developing the functionality of the Apple Pencil, presumably for all accessibility, but specifically they asked me about VoiceOver, what ways in which the pencil could be used to improve overall use of the iPad and more specifically how it could work in certain apps.
As a quick reminder, the pencil, after some quick Googling, has an accelerometer built in and a pressure sensor on the tip. My first thought is using the accelerometer in the pencil to complete VoiceOver gestures such as a figure of eight to start reading a document, basically I want a magic wand. I'm not sure if the accelerometer is capable of this granularity but it can certainly understand taps on the barrel, so again, double tap to start reading and another double tap to stop. It might even be possible to sense a multi finger tap but of course, you need to still be holding the pencil which limits things.
Anyway, it's an exciting opportunity for us to give some feedback on what we might want to use the Apple Pencil for. If you can throw your ideas in here I'll put together a digest for apple accessibility to take a look at after all, we're really the only ones who know how we use our devices.