Dirk Hanss wrote:
He tells his students to punch or kick uke, if he does not protect himself (Aikido and the Harmony of Nature), while he insists, that his kind of training is not sparring. And I never understood "no force, no violence" as an order not to attack seriously or not to perform effective techniques.
He also tells us (same book) that he tried to attack O Sensei as hard as he could - even when O Sensei was already weak from cancer a short time before his passing, but I could not find any story, where he stated "I fell, because I felt that I was expected to fall".
Another good quote from that book (there are a bunch but I don't have access to them all right now) is when Satome Sensei states "He laughed at our determined attempts to hold him."
A determined attempt to hold someone is about as much resistance as I can think of?