Perfect Forward Secrecy is obtained by using Ephemeral Diffie-Hellman keys (DHE or ECDHE). So to get the cipher suites in that list that support PFS you could do:
$ openssl ciphers -v aECDSA:aECDH:kEDH:kRSA | grep DHE
This will include ciphers based on ECDHE (Elliptic Curve) as well as DHE (RSA). An advantage of ECDHE is that it is a lot faster than DHE. However in the list generated by that command there are still quite a few weak ciphers that use weak or no crypto: DES, RC4, SSLv3, NULL.
All of those happened to have SSLv3 in common, so by excluding SSLv3 you get a list of 12 solid ciphers:
$ openssl ciphers -v aECDSA:aECDH:kEDH:kRSA | grep DHE | grep -v SSLv3
ECDHE-ECDSA-AES256-GCM-SHA384 TLSv1.2 Kx=ECDH Au=ECDSA Enc=AESGCM(256) Mac=AEAD
ECDHE-ECDSA-AES256-SHA384 TLSv1.2 Kx=ECDH Au=ECDSA Enc=AES(256) Mac=SHA384
ECDHE-ECDSA-AES128-GCM-SHA256 TLSv1.2 Kx=ECDH Au=ECDSA Enc=AESGCM(128) Mac=AEAD
ECDHE-ECDSA-AES128-SHA256 TLSv1.2 Kx=ECDH Au=ECDSA Enc=AES(128) Mac=SHA256
DHE-DSS-AES256-GCM-SHA384 TLSv1.2 Kx=DH Au=DSS Enc=AESGCM(256) Mac=AEAD
DHE-RSA-AES256-GCM-SHA384 TLSv1.2 Kx=DH Au=RSA Enc=AESGCM(256) Mac=AEAD
DHE-RSA-AES256-SHA256 TLSv1.2 Kx=DH Au=RSA Enc=AES(256) Mac=SHA256
DHE-DSS-AES256-SHA256 TLSv1.2 Kx=DH Au=DSS Enc=AES(256) Mac=SHA256
DHE-DSS-AES128-GCM-SHA256 TLSv1.2 Kx=DH Au=DSS Enc=AESGCM(128) Mac=AEAD
DHE-RSA-AES128-GCM-SHA256 TLSv1.2 Kx=DH Au=RSA Enc=AESGCM(128) Mac=AEAD
DHE-RSA-AES128-SHA256 TLSv1.2 Kx=DH Au=RSA Enc=AES(128) Mac=SHA256
DHE-DSS-AES128-SHA256 TLSv1.2 Kx=DH Au=DSS Enc=AES(128) Mac=SHA256
Do note that you are excluding 4 PFS ciphers with your aECDSA:aECDH:kEDH:kRSA
selection.
ECDHE-RSA-AES256-GCM-SHA384 TLSv1.2 Kx=ECDH Au=RSA Enc=AESGCM(256) Mac=AEAD
ECDHE-RSA-AES256-SHA384 TLSv1.2 Kx=ECDH Au=RSA Enc=AES(256) Mac=SHA384
ECDHE-RSA-AES128-GCM-SHA256 TLSv1.2 Kx=ECDH Au=RSA Enc=AESGCM(128) Mac=AEAD
ECDHE-RSA-AES128-SHA256 TLSv1.2 Kx=ECDH Au=RSA Enc=AES(128) Mac=SHA256