just want to make sure I am not hurting myself

I had someone recommend working on my arms by grabbing the sides of the seat of a chair behind me, balancing on my heals and lifting and lowering my body in front of the chair (until my elbow are at 90 degrees).

I have done this a few times, but I have a feeling I am increasing my chances of tearing a rotator cuff or something (it just doesn't feel like a natural movement).

Any thoughts/advice?
 
Sounds like your describing a "bench dip". They're not terribly dangerous; just dont do them if you feel pain in your elbows, wrists or shoulders. Bench dips put a lot of pressure on them.
 
Bench dips are one of the best IMO; consider the following to make it safer:
-Warmup the shoulder area well first-i like slow windmills done first in one direction then the other, for a few minutes, for anything related to shoulders.
-Make sure that the chair you're holding onto is stable and won't tip during use. Consider using a bench or something else that is very solid if there's any question, as it will make a difference in effect and also in terms of possible shoulder stress, IMO.
-Consider the height of the opposing bench as well as different angles, as these things will effect the degree of pressure on the shoulders. Experiment with angle and height to find the least traumatic way to do it.

If nothing improves, consider doing cable pushdowns or close grip pushups instead and avoid this exercise if it's not for you.
 
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While I'm on break I've been doing bench dips to keep the upper arms (not sure what they're called) active until I can get to a gym. Though the first time I did them I hurt myself (shoulder pain isn't fun...), had to google for technique and form. But it's been go so far.

Here's a good link with an explanation.
 
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