The ergo's improved on the straight handles in two ways. They opened up the rear talon angle to reduce pinky-kink and curved the grip more closely following the shape of a human hand/fist. Jerry invoked the help of an orthopedic expert, if I recall correctly, to help design the ergo's after he injured his hand and became more acutely aware of the value of enhanced ergonomics. The fusion handles improved on the ergo design by offering a thicker handle which avoided the concentration of grip area along the narrow tangs of the ergos and straights--areas where impacts and vibration could concentrate on the palm and cause discomfort. The fusion handles also offered more contouring of the micarta itself, as compared with the flat slabs of the straights and ergo's, for better comfort and security. I think the fusion handles were a successful improvement over both the ergo's and straights, and I think the new BWM and KillaZ handles are suggesting an even more streamlined evolution without the pronounced "beak" on the back end of the pommel, which may be useful as "skull crushers" in combat, but which also impede striking of the pommel with the hand or baton to start the point into resistant materials.
Comfort-wise, the fusion handles are better than straights and ergo's, in my opinion, and are a natural evolution of both.