Simple flexible pads for "Corength" brand push-up bars/grips from Decathlon. The green rubber rubs off quite quickly (at least mine did, draw your own conclusions ;) ). This could lead to marks on your floor, so these pads are meant to repair it with a minimum of fuss.
You need two pads per grip, they should stay attached by themselves (probably depends on the filament), but you can also add a drop of glue to be sure.

Voron 2.4

No

No

any

none

Use any rubber-like filament. I used Polyflex TPU and it worked out great. Softer ones are probably better. Print like any other flexible object, it should be an easy print, relatively speaking.
I used 15 mm/s, 0,2 mm resolution, no supports, rafts or infill, 260/80 °C.