Richard,
I believe the best way is to keep your edges even softer at the beginning.
Try working in the center of a form first, then work out to the edge rather than establish a strict outline. I've found that we tend to get in trouble early on when we establish an outline only to find out later that it isn't correct.
If I'm taking up an already dried canvas for more paint work, I will lay down a thin layer of color outside the edge, matching it to the color already there or modifying it a little if necessary, then lay down a thin layer of color inside the edge, again matching the color properly. I can then blend these two colors together at the edge line and soften them. Employ a very light touch for this.
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