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Muscular endurance is the measurement of how well your muscles can withstand resistance over a sustained period of time. For example, if you can do 40 pushups in a row, you are considered to have good muscular endurance.
How to improve endurance. With everything, you must stay consistent, and consider increasing your endurance step by step. This is especially important as people often end up trying to do too much at once. If you're increasing muscular endurance in your arms, try 10 pushups:
When you go to the toilet
Before you eat
Before you sleep
When you wake up
If you do this, you'll 100% see an improvement in your endurance, and you'll start to find that you can do 20 per set!
Do I need weights to increase my muscular endurance? Despite what some gyms might tell you to get them in, you don't need weights! In fact, the best way is by doing:
Pushups
Situps
Squats
Variations, such as hand clap pushups, jump squats etc.
These are not too heavy, but not too light to give yourself a good enough workout.