Padded Arm Rest

I found that the armrest cushion below, when used with the 'Armrest w/storage" at HandA creates a truly comfortable armrest, with the 2" added by the cushion just enough to do the job. The 13" x 7" cushion fits just right.
I'm 6' tall, and larged frame, so maybe you don't need the rest at such a high level, but these cushions provide great comfort and are made of a great sueve-like material that is warm and non-slip.

http://www.handa-accessories.com/elementint.html
http://www.autosportcatalog.com/index.cfm?fa=p&pid=5919&cid=9