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If you have adequate calcium, you're on the right track. Bone density is partially genetic, but by repeated impacts you can strengthen your bones as well. In my old karate school (don't bash it...) we used to do tons of exercises just banging arms and legs, to toughen up your limbs. Your knuckles and shins will probably see the greatest benefit from doing stuff like this, though be sure to give them adequate recovery time. Getting a hairline fracture or something like that can set you way back.
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