Does your bike fit you well? You may just need to adjust your handlebar position. Maybe even the saddle. How high are your bars compared to your saddle? Do you feel like you're stretched out too far when you reach for the grips? Do you do any body core exercises?

Another option is new handlebars with more "sweep". Or a shorter/taller stem. This will bring the grips closer to you, taking some of the weight off your hands.