I really want to try that with my husband^,^ but I think it's kinda leave bad message

Not really because with role play you can say stop when ever you want. its like taking control of something that most can't.

If you're worried about what he might think of you, point him to some studies. They will reassure both of you that it's common.

if you're not confortable with "rape" role play you can still try some others like "nurse" or teacher policeman etc....(I'll think about it too, could be fun)