Yes. Start at your tyres. Choose the widest that will fit, the lowest pressure tyres available, and the least tread that will do the job for the terrain. Wide, soft, slick should be your mantra if you're interested in real comfort. The reason is that what hurts isn't hardness, and can't be fixed with foam. It is microvibrations coming up from the interface between road and tyre, and must be fixed first.
BTW, I use grips that are absolutely rock hard, no perceptible give, under thin leather dress gloves with a thin, very worn lining, zero padding. I am incredibly sensitive to vibrations in my hands, but I feel no pain because I ride on (technically) underinflated Big Apples, with a very relaxed geometry on properly scaled fork tubes. The grips I use are by Brooks and consist of rings of saddle leather set on edge and very tighly clamped together between hefty cast aluminium ends, further held rigid by short bicycle spokes (I swear, see photos at
http://www.thorncycles.co.uk/forums/index.php?topic=4723.0 ). I don't think they'd fit your flutterby bars, but for anyone with straight or North road bars, I recommend them very strongly.