I always wear gloves, but I have felt some of the Specialized Roubaix tape on a friends bike, and it felt very good on my bare hands. Also, Specialized and others make a gel wrap that you can place below the bar tape for increased comfort.
If anyone is looking for some good tape with little padding, I have been running this faux leather bar tape all year now. Looks great, good grip, and lasts a long time. It has lasted me about twice as long, so far, as any cork tape I have had. Can't remember the brand of the tape I am using, but there are several companies selling similar products now.
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