The fact of the matter is that Osensei did have other martial artists attack him and he defeated them without hurting them (in general!). If you can't do that (I can't yet) fine but you're probably not doing Osensei's aikido (yet). If you have no interest in developing such skill then you probably will never be able to do Osensei's aikido.
Don't forget that Shioda did the same. Tomiki did the same. Tohei. Mochizuki. So, that covers four of the big names in Aikido. If you aren't working towards developing that kind of skill, just *what* kind of aikido are you doing? This is a serious question.