There are many minimally-forceful ways that don't normally end up in injury, but the police forces have to actually invest in training their officers for that to happen. If I were in charge I would offer tax credits to mixed-martial arts and jiu jitsu schools that taught police officers, but of course, the left's answers to these issues are so shortsighted and stupid that they end up hurting the exact people they are trying to protect. In ridiculous irony, the cops resorting to telling their officers not to use physically "forceful" restraining maneuvers actually allows the the people they are restraining to become violent enough to warrant using an officer using their gun in self defense. Then you have the "defund the police" movement that have predictably lead to increases in crime and the afflicted communities to beg for re-funding their police departments.