When I first moved from the Buell Blast to the F4, I noticed that my shoudlers would ache after a few minutes of riding, and my hands always hurt, and I was wondering how in the heck anybody could get used to riding like that!
I happened to mention my issues to spicersh in passing, and he gave me pretty good advice.
I stopped bearing weight on my arms and switched to gripping the tank with my legs and forced myself to quit choking the grips. Because I had improper riding position for a few months, I had to constantly recheck myself. Once I started relaxing (that was definitely part of the shoulder ache and sore hands) and got into the groove of a different position, I noticed that I was much less sore, and the riding was much more enjoyable.
"I often wonder why I talk to you, then I realize, although you put me down, you do it with love." - Jester