There are Martial Arts that are referrd to as "soft" styles. These are more gentle then other "hard" style martial arts. However, when compared to just about anything else that is not a martial art, even Tai Chi is not very gentle when used on a person.
As a side note, Judo and Jujitsu (the name sake for Brazilian Jiu-Jitsu) is translated into English as "The Way of Softness" or "The Gentle Way."
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