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"soft thud" is a correct and usable phrase in written English.
It refers to a muffled or quiet sound that resembles a dull thud. Example: The cat jumped off the couch with a soft thud, landing gracefully on the carpeted floor.
Exact(11)
Somewhere, a piece of fruit dropped with a soft thud.
The sounds came in quick succession: a soft thud, a dropped ball — bounce, bounce, bounce-bounce — and then the child began to wail.
I walked through the colorfully hand-painted door to music emanating from a boombox and the soft thud of bodies hitting gymnastics mats.
She heard a soft thud and a rattle of glass; Neil heard it, too, from inside the room and turned his head.
When she spotted him outside, she immediately yanked out her earbuds, pushed back her chair, and hurled herself against the picture window, landing with a soft thud.
After taking care of some paperwork, he went down to the gym, changed into running clothes, and jogged across Memorial Bridge, along the Jefferson Memorial, until he heard a deep, soft thud.
Similar(49)
Her feet made soft thuds when she landed.
At the time, I wondered about the soft thuds I had heard the night before at the pub where I was having a drink.
Soft thuds on the floor and door: nobody there to hear him, nobody climbs to his aid.
Every so often, a soft, deep thud caught the ear, sometimes followed by a snigger.
She managed to make very little noise, just a few soft bumps and thuds; when she had finished, though, the room looked as if a hurricane had blown through it, throwing the chairs about.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com