Purpose – Working on rear leg strength individually. Also works on core strength when you use a narrow prop on the rear end. 

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Criteria – outside rear leg steps off the plank and hold a stand for a few sec, then back up to a nice stand position. Watch for good head position and top line in both positions. 

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Placement of reward – Food is in front of the dog with their head in a neutral stand position. Luring dog off the side have them pivot a rear leg off. Can use zen hand for the hold positions.

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Training tips – Pre requisite is dog understanding pivoting on a perch. Lure head to the side and hopefully they will step off. Most will quickly step their rear foot off, so mark and reward that initially. As said above you can use zen hand when they hit the position.

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Increasing difficulty – increase reps, maybe slightly increase height of platforms but not too high. Front prop higher would end up with more weight towards the rear. Increasing the rear prop would make it more of a single leg squat.