World and Olympic coach Michelle Leigh explains the mechanics of a toe loop jump as it relates to the non-picking foot. She draws a picture on the ice to explain the movements and she shows common errors. To develop the correct feeling for coming off the heel with a straight leg, Michelle offers two exercises.
In one the skater simply does air turns off 2 feet, ensuring the heel of the blades leaves the ice last. The other exercise is very similar but takes off one foot and lands on the other in order to isolate the feeling of the non-picking foot in the air. Notice the non-picking leg comes off the ice from the heel of the blade and the leg is straight with no h-position.
To see a more complete description and demonstration of how Michelle teaches a toe loop, please see this video.
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