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I've done a couple of different 2-day programs based on 5/3/1 or TJM:
OPTION 1 (1 week):
Mon:
Squat & Bench
Thurs:
Dead & Press
I'd second TJM with this set-up. Maybe inverted Juggernaut - I know that if I were to do it, or something similar, I'd do it inverted.
For someone who's already consistently, I have mixed feelings about TJM or a block periodization approach, but I think it's a really good approach for people who have other athletic goals, or are returning to lifting / coming back from an injury, etc.
There's also the approach outlined here, which I think is a really simple and solid approach where you're starting light and progressively building up to heavier weights. It's also a simple block or linear periodization program.
http://www.elitefts.com/education/training/sports-performance/how-i-train/
You might want to also consider whether there are any technical modifications or assistance exercises that will help with your knee/hip/back issues. At this point, I feel that more than actually improving main lifts, the biggest benefit of assistance work is just doing things that allow for balanced muscular development and feeling healthy rather than achey.