Hi there
I think the problem is that the inner wire cable is 'sticky' inside the plastic covered outer, so the spring within the brake calliper is not strong enough to return the pads to their off position. A quick fix to try is to dribble wet lube/oil into the outer - if you remove it it will be easier to do.
If this doesn't fix the problem - just replace both the cable & outer. Rear brake cable runs are so long on tandems they need to run perfectly - we tend to replace ours every year or so just to keep it all moving freely.
Remove the old cable & outer. Measure the new outer & cut it to the same lengths as the old one - am sure there are youtube videos to help you, or Sheldon Brown's website always has the right answers! Alternatively - if you don't want to have a go, this is a quick & easy (& cheap) job for a bike shop.
Hope this helps