i just removed a long, old ABS alps bar.
to make sure i didn't break the bar, or bend the stabilizer, i removed all the caps around it first and then just used both hands(my fingers) to clamp the bar in such a way that i had a lot of control.
for gripping it safely, i just searched for the stronger points in the bar by lightly squeezing it.
then it was just a matter of slowly lifting the bar up while wiggling and rocking a bit, barely took any force.