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That's how I print the palm as well. One thing that helped is using Simplify3D as a slicer, as it generates support that's easy to remove. In particular, it can leave a one layer gap between the support and the supported material, so the palm ends up resting on top of the support, not bonded with it, so the support is quite easy to remove. The other fantastic thing about Simplify3D is that you can manually control where it generates support, so you can (for example) generate support for the arch of the palm, but not in the screw holes and bridges over the knuckles. The result is that the print is very clean, and the support is easy to remove.
The newer versions of MakerWare also do a pretty good job with support, but IMO Simplify3D, with its manual controls, gives the best results.