Someone who can't take a joke like the one that's mentioned in the article is liable to be problematic in some other capacity anyway.
“Cant’t take a joke” is a terrible excuse for making people uncomfortable. People are sensitive, impostor syndrome is extremely common. The people who work for you are always going to be worried about their job at some level. Don’t take advantage of your power to make a joke that is, at best, not funny and at worst incredibly anxiety-inducing.
A manager, like everyone else, should know who to make a joke to, and he will get closer to those employees.