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Sit on your bike, put your hands where they are comfortable and find some bars that put your hands there. There are tons of bars out there because one size does not fit all.
I knew before I bought my bike that I didn't like the stock bars. So the dealer threw in a set of Heritage Style bars as part of the deal. HUGE improvement over the stock bars (I actually had to ride it with the stock bars for a week due to having to work and my back ached after 40 mins in the saddle).
If I had to do it over again, I'd get 12" mini apes.
You can go down to the dealership and sit on a 2014 RK. It has the Heritage Style bars on it now from the factory. That will give you a good idea of what you might want since they will feel a lot different than your stock bars. If not quite what you're looking for, 12" mini apes would be the next logical choice. Might even have a few used bikes you could sit on and try.
I am 5-11" and have the wild ones beach bars (WO550) and am very happy. It is like power steering. A lot of guys will put the bars from a Heritage Softail on their RK. Having a set of them on my wife's Heritage, they are very comfortable, but the set up on these bikes is different.
Something to consider is cost. Some of these bars (apes, beach, bikini...etc) may require you do get new lines. Chubby bars give you the option of having the wires ran inside as well. IF you do get bars that require a new line...or run the wires inside...get all of the costs first before you start the project. It adds up quickly, but damn do they look good when you're done.
Finding proper fitting handlebars can sometimes be a difficult chore and it depends on the bike and the individual rider.
I've also put Heritage bars on 2 RK's and a set of handlebars from a 2003 RK "sport" are now on my RK.
I had W.O.'s 577's installed on my '13 CVO Ultra and they fit me perfectly, but I probably could have been almost as happy with the W.O.'s 578, which are about " lower.
I'd suggest trying the H-D dealership "fit shops" as they may have what you're looking for, but it also pays to always looks at other bikes.
Also, it's a good idea to keep in mind that when you're sitting on your bikes, with your hands are on the grips that they should not he higher than your shoulders as you may have problems with some LEO's.
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