Hi Sylvain
Nothing wrong with you english at all, it's very good.
The rubber damper is a kind of Universal joint & was used buy Ford as an alternative to the traditional type of Universal joint.
looking at your picture ( 3rd one )
If you were to connect that rubber damper directly to the rack & leave the UJ at the bulkhead then connect the Two by means of a solid shaft, that should be all that's needed to give you a workable steering shaft.
On the other hand, if you were to add an extra flexible component mid shaft, it would then need some additional support.
Rally design do a universal joint to replace the original Sierra Rubber one. ( As shown in AshG's picture )
I would take a picture of my set up but unfortunately it is under covers at the moment.
Hope that helps.