DIY cane handles? Need a larger grip that will stick.

So I recently bought and prepped some Delrin rods of various lengths and thicknesses to make canes out of. I don't hate using them as is, but I'd prefer something that I can grip a bit better and need suggestions.

Here's my criteria:

• Something that won't slide off the Delrin (I can easily see rope not staying in place because of how smooth the Delrin is)

• Something that won't inhibit sterilization (anything that can absorb water can also absorb bodily fluids, and so I wouldn't be confident about their ability to be cleaned and sterilized if I went with this)

• Something relatively chemical resistant (doesn't need to stand up to anything harsh, but I do use rubbing alcohol and hydrogen peroxide in my sterilization process)

• Something decently thick (I'm looking for something that will fill out my hand a bit better, making them more comfortable to hold and use)

• Something that looks nice (I know I can accomplish this with something like a waterproof tape, but I'd prefer it look like it was made with some sort of care in mind)

Bonus points if:

• The handle is easily removable (but somehow still stays in place)

• It is a relatively cheap solution (I'm willing to spend money but I'd rather it not be a fortune, I am DIYing canes for a reason after all)

• It is easily customizable to my liking (in design, thickness, whatever, the more freedom to make it my own the better)

So, what are your suggestions? Have you done anything like this before? If so, I'd love to see pics as well. Any help here is greatly appreciated.