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Rootsh is a wrapper for shells which logs all echoed keystrokes and terminal output to a file and/or to syslog. It's main purpose is the auditing of users who need a shell with root privileges. They start rootsh through the sudo mechanism.
Strokey is a small hardware keyboard logger saving all keystrokes into an EEPROM memory for later investigation. The device may get attached to any PS/2-keyboard by intercepting the cable, or get placed directly inside for maximum invisibility.
sudosh is a sudo shell, filter and can be used as a login shell. Sudosh records all keystrokes and output and can play back the session as just like a VCR.