I can't find a way to do this in the ltm package, though it's relatively straightforward if you are willing to use the mirt package.
First, write out some arbitrary matrix or data frame consisting of possible but random response patterns. You can include the actual response patterns you are interested in as well for later use.
dat <- matrix(sample(c(0,1), 10000, TRUE), ncol = 5)
colnames(dat) <- paste0('item', 1:5)
Use this as the data input and to mirt() and give the option pars = 'values' to return a data frame containing parameter names, numbers, starting values, etc. Edit this object to contain the values you want for the intercepts, slopes, or whatever else, and set all the estimation logical to FALSE. This will cause the model to instantly converge with the parameters that you want.
library(mirt)
sv <- mirt(dat, 1, itemtype = '3PL', pars = 'values')
#custom discrimination, easiness, and guessing values
sv$value[sv$name == 'a1'] <- c(1,.9,.8,1,1.1)
sv$value[sv$name == 'd'] <- c(-1,0,1.5,-1.5,0)
sv$value[sv$name == 'g'] <- c(.2,.15,.17,.19,.15)
#set the parameters as fixed
sv$est <- FALSE
Finally, (arbitrarily) estimate this model by using pars = sv, and use the returned object to calculate the factor scores. If you included the response patterns you are interested in then using fscores() directly work, otherwise use the response.vector option to estimate the patterns directly.
mod <- mirt(dat, 1, pars = sv)
fscores(mod)
#more interested in pattern: 0, 1, 1, 0, 1
fscores(mod, response.vector = c(0,1,1,0,1))
Hope that's helpful.