Se você tiver socat
útil, há um exemplo no manual que você pode usar.
(sleep 5; echo PASSWORD; sleep 5; echo ls; sleep 1) |
socat - EXEC:'ssh -l user server',pty,setsid,ctty
EXEC’utes an ssh session to server. Uses a pty for communication
between socat and ssh, makes it ssh’s controlling tty
(ctty), and makes this pty the owner of a new process group
(setsid), so ssh accepts the password from socat.