Some recumbent bikes use steering via levers to either side (which pull bars that pull the steering column left or right, I assume). Some front loader cargo bikes also have a separate column for the fork vs. handlebars and connect the two with a rod.

Maybe you could take a normal bike, then add levers to either side, or even behind you, and just control the steering that way.

Can't feel pressure on your wrists if you are grabbing a steering bar behind you and leaning forward. 😁