Think about catching an egg, you shouldn't meet it with a rigid "clap." Instead, you must move your hands in the same direction as the falling egg, gradually slowing it down.
Now apply this to Padel
The Soft Grip: You must hold the handle with minimal tension and a relaxed wrist.
The "Give": As the ball meets the pade, you slightly retract your arm. This mimics the egg-catching motion, using your elbow and shoulder as shock absorbers to increase the duration of contact.
By moving the racket face backward upon contact, you increase the contact time (\Delta t). This allows the Padel to absorb the ball's kinetic energy rather than reflecting it.
This makes a lot of sense. I will still only do it successfully by accident :)