http://www.amazon.co.uk/Oral-B-Sensitive-Replacement-Rechargeable-Toothbrush/dp/B0000C05JX
Has anyone used these? Are they good?
I heard that hard toothbrushes can damage teeth and gums, but would soft ones be too soft to clean the teeth effectively?
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Thanks 
Yes, you are right about the hard toothbrushes causing damage.
The soft toothbrushes are the best, provided you use it for adequate amount of time.