Your hand has two muscular spots at the base of your palm, with a ridge n between. Foam padding will initially feel more comfortable than tape and gloves, but if you use foam padding, it redistributes pressure to the ridge between the muscles, causing hand pain over the long-term and potentially causing carpal tunnel.

It's safer and probably more effective to use not-so-padded tape and gloves with gel pads on those muscles, rather than swath your hands in foam.

Same concept in seats!