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Ravens fullback Patrick Ricard took the practice field with his teammates for the first time this season Thursday.

He injured his calf during training camp and then suffered a setback that had kept him off the field until now.

“It was supposed to be a two-, three-week injury when it first happened in training camp, and then he retweaked it and it was supposed to be another two or three weeks,” coach John Harbaugh said Monday. “It’s been slow burn. If we’d have known it was going to be this, we’d have put him on IR [injured reserve] the first week and we’d have another roster spot.”

Harbaugh said Ricard is frustrated. He hoped for him to return by the Week 8 game against the Chicago Bears.

The five-time Pro Bowler is an important part of the Ravens’ blocking schemes, particularly when it comes to generating push for running back Derrick Henry. Tight end Zaire Mitchell-Paden has been filling in while Ricard is injured.

The 1-4 Ravens, who have lost three straight games, got even more good news Thursday with Pro Bowl cornerback Marlon Humphrey’s return. Like Ricard, he was a limited participant ahead of Sunday’s game.

Humphrey was dealing with a groin injury ahead of Week 3, but he played against the Detroit Lions. In Week 4, he looked limited against the Kansas City Chiefs, who were burning him in coverage, and he left with a calf injury. He was sidelined in the Ravens’ Week 5 loss to the Houston Texans, along with starting cornerback Chidobe Awuzie and Pro Bowl safety Kyle Hamilton.

Hamilton returned to practice Wednesday and was upgraded to full participation Thursday. Awuzie remains sidelined, but the Ravens added depth to their secondary Tuesday by trading outside linebacker Odafe Oweh to the Los Angeles Chargers for safety Alohi Gilman and signing safety C.J. Gardner-Johnson to the practice squad.

Quarterback Lamar Jackson (hamstring) and inside linebacker Roquan Smith (hamstring) remain sidelined by injuries they suffered in Week 4. Barring a return to practice Friday, both Pro Bowlers are expected to miss their second straight game Sunday.

Offensive lineman Ben Cleveland missed practice for personal reasons. Left tackle Ronnie Stanley (ankle), right tackle Roger Rosengarten (knee) and backup tackle Joe Noteboom (ankle) were upgraded to full participation. Wide receivers Zay Flowers (shoulder), who appeared on the injury report Wednesday, and Devontez Walker (oblique) remain limited.

This article has been updated.