Switching from velocity control to torque control

Hi everyone!
I am using the ODrive for research purposes. One exercise it to pedal with the arms and force against the motor. However some persons are strong enough to stop the motor even when the instruction is 30 tr/min for the pedals. In this specific case, I would like the motor to stop gently, I would like the torque applied to reduce progressively until 0. My problem is that when I switch to torque_control, even if my torque input is my maximum current it looks like the ODrive has to cut the currents when switching. Do you have an idea of how can I do ?

Any help appreciated!