Nuggets, I can't comment on the nuances of teaching in an R22. And I will refrain from using this opportunity to cheapen the thread
BUT be very careful about imparting black and white knowledge to students.
'Covering' the pedals is very much a subjective issue ranging from a gentle feel for feedback which acts as another sensory detector for the pilot - to an absloute necessity on more complex aircraft when discussing tail rotor problems - all the way over to feet planted firmly on the floor which has been suggested on this thread. Try and get a feel for what is best for you/your students predicament at the time (hovering. turning. cruise. mals). Don't come down hard on one or the other choice. Remember, the best pilots sense/feel their craft and get used to it talking to them. You can't always do that with a third of the controls not being monitored.