My BMW R1150R had heated grips from the factory and the rubber fell apart leaving black marks on my hands. BMW claims you need to replace the entire heated grip assembly (very expensive), but a quick search of the forums showed me the opposite. I was able to very carefully cut the old grip off with a razor blade, scrape off the residue with carb cleaner, and then reattach it. The heated grip makes it thicker than usual so you have to buy two pairs and use the larger grip on the throttle side on either side, but this worked great for A LOT less money.
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