There is different grips and for different grips different materials is better. One thing is powerful impact when knife is used as an axe to pry like car door or chop redwood tree, and another thing is when do some delicate repair or surgery when you need flexibility and need to hold knife with fingertips etc.
G10 is not most comfortable handle material, just beause it is hard, it is durable, but for long work I preffer stacked birch bark or leather or rubber (kryton?) like KaBar Next Generation or Samurai Bowie has. For folders g10 is better because of durability and in general it is more tool for simple cutting jobs, repair etc. - palm-skin confort is not too critical for folders.
Thanks, Vassili.