Companion Dragon Quests Bugged

So On Two Companions Now Their Dragon Quests Are Bugged (Emmich And Taash)  The Dragons When Go To a High Place When Their Health Gets To a Certain Point And Then No Longer Take Damage. Even With a Trainer Their Health Remains Stuck. Is There a Fix For This Or Will They Be Undoable Forever? (The Emmich One Might Be An Optional Quest)