Heh, I actually have the opposite problem - trying to train my hands to hit *softer*, especially at frantic speeds.
Generally speaking, there is no need to really whack the triggers all that hard. Have you tried playing around with the noise floor (FL) and volume (UL) settings? A tweak there might be all it takes to get the dynamics you are looking for. Failing that, adjustments to the velocity curve (rC) will probably get the results you are looking for.
Also, have you upgraded to the v4 board yet? The dynamics there are greatly improved (IMHO).
Honestly, no. It could very well be offered as an alternative design, but I think the pads are way too closely placed for a new player.
Don't get me wrong, it's a cool layout and someone doing a lot of melodic phrasing or who has already mastered a Zen would have a field day with it. But a newbie would have a very hard time memorizing and coming up with layouts and would need exceptional finger control to avoid accidental hits of adjoining pads.
Page 167 of your TD-10 manual (http://lib.roland.co.jp/support/en/manuals/res/1811143/TD-10_eG.pdf) lists which CCs (control change) it responds to. It would appear that the TD-10 does not support CC#7, at least in it's unexpanded form. I would try it anyways as #7 is a pretty rudimentary function and it may just be that the manual is wrong (wouldn't be the first time). Also if you have an expanded TD-10, they may have added that feature.