The Michigan football team is getting healthy.

Coach Brady Hoke said this week being idle on Saturday was tough for the No. 17 Wolverines (6-1, 2-1) because they are coming off a loss to Michigan State, but also good for them because several players were able to rest up.

That showed Tuesday, as several players who have missed action participated in the team's first full practice of the week. (See video from practice.)

• Junior left guard Ricky Barnum, who has not played since twisting his ankle against San Diego State, warmed up with the offensive linemen. His right ankle was heavily taped, but he ran hard and moved well.

• Sophomore left tackle Taylor Lewan also participated in practice after forgoing drills last week because of an injured wrist and ankle. His ankle was taped, but did not appear to be wearing heavy protection on his wrist.

• Sophomore safety Marvin Robinson, who did not dress for the past two games because of an unknown injury, practiced with his teammates during the 20 minutes available to the media.

• Sophomore linebacker Cam Gordon, who this week was removed from the starter's spot he had occupied the whole season, worked out with the linebackers. He has practiced each week of the season, despite not playing until the Michigan State game because of a bad back. Against the Spartans, he recorded a special teams tackle but did not play defense. Jake Ryan has now officially usurped Gordon as the starter at strong-side linebacker.

• Senior cornerback Troy Woolfolk, who played only one series in Michigan's 28-14 loss to Michigan State, was not wearing any protection on the hand he broke before the Notre Dame game, nor the ankle he sprained in the opener against Western Michigan.

Michigan faces Purdue (4-3, 2-1) at noon Saturday on ESPN2.

Kyle Meinke covers Michigan football for AnnArbor.com. He can be reached at 734-623-2588, by email at kylemeinke@annarbor.com and followed on Twitter @kmeinke.