Rudolph (ankle) was a limited participant at Thursday's practice, Dan Salomone of the Giants' official site reports.
The 32-year-old left the Giants' Week 15 loss to the Cowboys a little worse for wear and has opened the week with two consecutive limited practices. Rudolph still has one more practice Friday to prove his health ahead of Sunday's matchup with the Eagles, though the two limited efforts do bode well for his availability.