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In our posts on calisthenic fitness exercises (ie cardio + body-weight exertion - not muscle-building) we have always included jump-roping. I have been working on it. There is a technique to be mastered, and the ballistic nature of it is quickly fatiguing for me. I have tried to do doubles, but can not do them yet.
Block out any association you have with jump ropes and school children—the jump rope is an incredibly efficient, versatile workout tool. Carry it in your backpack or briefcase, bring it with you on vacations and weekend trips for work because this is one of the easiest ways to build cardio fitness, agility, and strength on the go.
This fellow goes through 6 tips for your beginning jump-roping (the 6 videos should run sequentially but if they do not, here they are:
I learned from a dvd with the former boxer, Michael Olajide, put out years ago. You might find some of his video on youtube. Mostly, you just have to do it.
If it ever gets easy (and it does get easier once you find the rhythm and rarely misstep) look into using a really thick rope (think the thickness of battling ropes) like these: https://www.onnit.com/battle-ropes/ I have a thick rope like that, but cannot remember where I got it. It makes me feel like I'm brand new to jumping all over again.
PS: I've heard that jumping has less impact than running. The key is you are not (unless you want to) jumping very high off the ground. I think it was something like a quarter of the impact, but I could be wrong, since it was something I read ages ago.
Some of the best ropes I've used are from crossrope:
I have that set. The heaviest ropes are hard, hard, hard. The ones for double unders really help with that. They spin a lot easier than anything else I've owned. I like how well the handles swivel (especially important for the double unders) and the handles make it easy to change the rope you use. I normally wouldn't recommend something so expensive, but it is cheaper than gym, portable, doable most anywhere and fun. If you get something like those, they aren't meant for concrete because they have a coating that concrete will eat away.