I did not see any "torture." And I'm not sure that I saw any IDF. Possibly Border Police --- the Gendarmes assigned to the Border Security Branch of the Israel National Police. At the very beginning of the video you see their unit insignia.
It appears to be a staged Palestinian rally and protest to instigate a confrontation between the BSB Officers and the Hostile Arab Palestinian Protesters. You can see the BSB Officers trying to push the protesters back; but they keep coming forward and forcing a direct confrontation.