Monkey bars require solid grip strength, superior shoulder mobility, and end range shoulder strength. They also require good total body coordination, and will make your upper body much more functional overall by allowing you to access strength at end range and through somewhat more extreme positions of shoulder flexion and rotation.
These capacities builds resilience in the shoulders that will allow them to remain pain free for the long haul in the face of the heavy beatings that come from hard upper body training.
I am of the opinion that pretty much every single human should be able to hang with one arm for at least a few seconds. If you can tie those capacities into the ability to seamlessly do monkey bars then you are most likely going to be alright from a shoulder health perspective.
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