The quick answer is no, but I think it's great if we can show enough demand perhaps someone will create one for us.
We need someone to come up with an addon. I'm showing 3 ideas below. The first two use the sync port and involve electronics and drivers, where the last one is a sort of d-pad extension.

I sold my Axim X5 and got a Sony Clie because of the GC10 game controller. It worked perfectly...but it was on Palm and the entertainment power was a lot lower. I sold it and got the Axim X30h.

On my first Palm III I used one of these babies. It wasn't perfect, a little chunky, but it did the job.

I've never used one, but I think this one looks perfect. It's for the Handspring, but that's all we need. Something small and easy to transport and hookup.
So someday, if there is enough demand, we can have a gamepad attachment.
Mike