Sounds like you have exhausted the vacuum in the booster by covering the pedal. The vacuum is released every time you take your foot off the brake.
The vacuum will only return once the pedal is completely released. As the vacuum is obtained from the inlet manifold (I assume you have a petrol engine) it will return quickest at idle (highest vacuum).
It would be better if you use the engine as a brake in this situation if you can by using a low gear and hold the brake down instead of pumping it will help preserve the vacuum in the booster.
Phil.


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