I have Julius K-9 harnesses for our girls. The chest strap isn't padded, but it is very adjustable, and the harness does have a handle. These are very well made & very sturdy. We went to an auto supply store & bought a seatbelt cover to go around the waist strap. We got a Size 1 for our girls (both about 65#). A website called Clean Run had the best prices on these.
When I was checking out the website, I see they have a new model called the Duo-Flex that has a padded triangle for the chest area. This might be better for your situation.
Here's their website: http://julius-k9.com/
Cricket