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If it was touched in or behind the neutral zone by the defense, the touching is ignored (not relevant to any ensuing act by either team). If it goes beyond the neutral zone after being touched by the defense, the same rules apply. If it stays behind the neutral zone and is recovered by the kicking team, they may advance it. If they reach the line to gain, they are awarded a new series of downs.
If one of the defense got a hand on it, I guess it is (partially) blocked for stat purposes. A kick can get touched by the defense and still score, though.
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