If tunnels are not forbidden in the intermediate host, you could use some SSH client (OpenSSH or plink from PuTTY) to create a tunnel from your local machine to the target device telnet port. Then, use Net::Telnet to talk to the remote machine through the tunnel.

If tunnels are not enabled, you could run netcat or socat in the intermediate machine to obtain a similar effect. I believe that later versions of Perl for Windows already have an emulation of socketpair, so you would be able to do something like...

     
Net::Telnet ===> socketpair ===> plink  ===> netcat ===> destination h
+ost/port
   \_______________  ____________/   \___  ___/
                   \/                    \/
               Local machine     Intermediate machine
[download]

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