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I just installed the Koso Apollo heated grips on my Zero S.  My Zero already had the 12v accessory cigarette socket installed on the Sumitomo accessory circuit so I connected the heated grips using the SAE plug.  I had to connect the grip's wires to a stripped end of a SAE connector using butt connectors (and heat shrink over that).  But placing the left grip on was easily the worst part of the install.  The left grip is really tight onto the handlebar.  If I would've known how tough it was (ie I should've taken Curt's write-up to heart), I would've filed down the handlebars to get the grips to slide on easier and also use some oil or lubricant to assist in twisting the grip into place.  The right side wasn't a problem but I did grind out a bit of the right side's interior to accommodate the conical shape of the throttle.  The grips are a tiny bit longer than the handlebars but I've got some bar ends on order so I haven't figured out yet if I want to trim a bit from the grips or have some overhang onto the bar ends.

Aside from that, the grips are great and definitely helpful for New England riding.  They have a nice clean look and allow for easy activation.  I bought them used on Amazon for $90 and am happy with the purchase.