Another possibility is to use chain. Mount the foot pedals on a three link mechanism to keep them parallel to your feet at all times as they work in tandem, and mount a sprocket on the bottom of the base bar. Then, run a chain back to a similar sprocket on a vertical shaft exiting the hull to the rudder. One apparent advantage of this configuration is that it allows you to subsequently determine the rudder stall angle at operating speed during sea trial, and adjust the sprocket tooth ratio to establish the desired extreme rudder angle at full pedal travel.
Alternatively, you could do this hydraulically with a closed-loop hydraulic system, such that the pedals actuate cylinders which are piped to similar cylinders (or a rotary actuator) at the rudder. The advantage of this configuration is that no mechanical through-hulls are required - only a fluid channel (or two) which can be sealed off with a valve when necessary.
-Sean
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