Due my lingering ankle problems I decided to replace my footpegs with Kuryakyn pegs with stirrups. According to discussion at Hondashadow.net they have a feeling similar to floorboards.
I purchased the pegs at Cruisercustomizing.com. The Dually peg is P/N 7963, the stirrup is P/N 4028, and the Honda Spirit adapter is P/N 8803. They were simple to install and they feel wonderful. I find I don't use my highway pegs as much.