I recently 'improved' my stock grips because I'd finally tired of them working loose.
I'd tried a couple of different adhesives but they still eventually failed. I'd always wanted to try the barrel shaped grips that I'd seen on earlier British bikes but never got around to it. I also kind of wanted to keep the original bmw style look to the grip.
Finally I took off the grips and built up a mild 'barrel' shape on the bar with black electrical insulating tape. This is the type that sticks to itself and, presumably, the inside of the grips (i reasoned). It's nonadhesive but joins with itself when wrapped. It is thick rubber tape separated by a vinyl strip on the roll.
The grip would not go back on. This tape really is sticky against other rubber. I soaked the tape well with rubbing alcohol and the grip slid on pretty easily. Sure enough, when the alcohol evaporated, the grip will not budge... at all! Fortunately, the profile ended up pretty much exactly what I wanted and I can attest that it's a HUGE improvement in comfort and, to tell the truth, in confidence. I feel a lot more connected to the front of the bike now.
I have a size XXL hand, so this is probably a more welcome change than it might be for smaller hands.

