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The word "helm" can be used, but it generally refers to the entire steering mechanism, whether it's a sumple rudder and tiller, or a pneumatic wheel. I'd normally say "wheel" to differentiate it from a tiller, and to single that particular piece out from the entire mechanism, but "helm" is also fine.
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Earn +20 ptsQ: Is there any name for the steering wheel of a boat?
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