Soft meeting

The aim must always be to strike with the whole body, every part soft and loosely connected.
This is the essence of 'reeling silk' and is cultivated by whole-body strength.

Performed correctly, this should ensure 'soft meeting' upon impact.
Whole-body strength and reeling silk will not prevent adverse feedback on impact unless you are soft, sensitive, and have awareness. 

This is not so hard to achieve. It just takes a little practice. In time it will be second nature.
Study Newton's 3rd Law of Motion.

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