I don't know of any Perl modules that allow direct access to the parallel port, though things like Device::SerialPort will give you access to the serial port.

I'm doing something similar, with direct access to devices/sensors connected to my parallel ports, and I ended up having to write something in C to do it (mainly just the simple low-level send-a-byte/read-a-byte calls), and using the system()/open() calls in Perl to interact with it. Though if it can be done in C, it can certainly be built into a module by somebody, but I can't find anything on CPAN.