I use the foam grips on my Miyata LT1000 touring bike. They seem to last forever. They are comfortable for short trips of 10 miles or so, without the use of padded gloves. They do give some insulation advantages in colder weather. They can also be wrapped with cloth tape if you desire to compress the foam a little bit to protect it or if your hands are on the small side. It can be a bit of trouble installing or removing, but Sheldon Brown has some tips on the Harris Cyclery website for working with this type of grip.
http://sheldonbrown.com/handlebar-tape.html
http://harriscyclery.net/product/grab-on-grab-on-maxi-grip-set-424.htm