The teams meet in the URC quarter-finals for the second successive season, with Franco Smith's side winning 27-10 a year ago on their way to the title.
Looking ahead to Friday's match, Darge told the BBC Scotland Rugby Podcast: "Really excited for it. We had last week with no games, so a good amount of time to prep for what is a really big game at Scotstoun.
"I feel like we're in a really good place, all the real hard work's done other than once we get to Friday night.
"We know Stormers are going to be really physical, a really good outfit, so it's a massive challenge to progress to the semis.
"We know what's coming this Friday. I remember the quarter-final last year and the start of the game and the intensity the Stormers brought. We are under no illusion where we need to be mentally on Friday.
"We have to be absolutely aware of what it's going to take from us and where we're going to need to be mentally to compete against these guys because we know they'll have so much attitude and desire."