I think most systems use hard and soft. In an earlier post I said I would mention Krav later. What I was going to say was, I spent the weekend at a superb Krav 3 day seminar. We were all belted, kneed, battered, bruised and sore. We had several multiple attacker sessions. I can attest, when you have fourteen attackers in a circle taking turns to attack you with sticks, guns, knives, rifles or fists, 'soft' goes out the window when the adrenaline hits and fatigue starts to cut in. We were all resorting to gross motor skills and they were quite effective. Unfortunately precision is not an exact science and many of us were gratefull that we were wearing cups.