I suppose the only problem I really have with keyboards is that the keys for your left hand slant the wrong way. Considering how narrow keyboards are compared to how wide a person's shoulders are, your arms are natrually positioned like /

but almost all keyboards are layed out like \ \. I can live with the key arrangement, it's OK, I don't necessarily think Dvorak keyboard layouts are the answer, although I've barely ever used them.

The real answer of building better interfaces will be with building smarter systems that can give the user fewer choices, like how modern UIs have drop down combo boxes instead of simple prompts where the user had to remember a bunch of codes and symbols to type in manually. But for long messages or strings of text there will always be the need to type it out character by character on a keyboard.