Goho is the hard or active system of punches, kicks, dodges and blocks with a focus on accuracy, speed and attacking weak points on a body as opposed to conditioning of hands and feet.
Juho is the soft or passive system, used when grabbed or held against one’s will. They comprise of releasing or throwing the opponent and applying locks to subdue them. The two systems are used hand-in-hand to create a unique all round system of self defence based on technique rather than strength, capable of repelling any form of attack.
Seiho is a therapeutic acupressure massage system used to relax muscles, relieve tension and regulate circulation.
Embu consists of (typically) 6 sections and each section includes a series of Goho or hard techniques and Juho or soft techniques. See link below from recent Shorinji Kempo All Japan Students Taikai – Team Embu [Highlights] – 4th Nov 2019.