The torque \( T \) is related to the polar moment of inertia \( J \) by the formula:
\[
T = \tau \cdot J
\]
For a tube, the polar moment of inertia is given by:
\[
J_{\text{tube}} = \frac{\pi}{2} (r_o^4 - r_i^4)
\]
For a solid shaft, the polar moment of inertia is:
\[
J_{\text{shaft}} = \frac{\pi}{2} r^4
\]
Equating the torques for both cases:
\[
\frac{\pi}{2} (r_o^4 - r_i^4) = \frac{\pi}{2} r^4
\]
Substituting \( r_o = 5 \, \text{cm} \) and \( r_i = 4 \, \text{cm} \):
\[
(5^4 - 4^4) = r^4
\]
\[
625 - 256 = r^4
\]
\[
r^4 = 369
\]
\[
r = \sqrt[4]{369} \approx 4.17 \, \text{cm}.
\]
Thus, the minimum radius of the solid shaft is \( \boxed{4.17} \, \text{cm}. \)