Baldwin was forced to watch his teammates at home on television as he didn't make the trip to Detroit with the rest of the team.
"That killed me," Baldwin said. "I have to play football."
Baldwin vowed to make it back for this Sunday's game against the Vikings.
Head coach Pete Carroll on Monday called Baldwin "a long shot" to play, yet Baldwin was back at practice on Wednesday. Baldwin was able to fully participate on Thursday, two weeks to the day after injuring his left ankle in a 13-6 loss to the San Francisco 49ers.
"He surprised us," Carroll said. "Coming out of Monday, we weren't sure. Then he practiced on Wednesday, got through it and had a good week so we're hoping he's going to play."
Baldwin has been plagued with injuries all season. A hamstring issue kept him out the entire preseason and most of training camp. He broke his two front teeth in the season opener in Arizona and missed the game against the Green Bay Packers with a shoulder injury. It's made it one of the most trying seasons of Baldwin's career. He wasn't about to miss another game due to injury if he could help it.
"My first expectation was that I was going to be able to play last week," Baldwin said. "...I just put it in my head that I was going to do whatever it took to get back sooner than they believed."
With Ben Obomanu landing on injured reserve and Braylon Edwards out for Sunday's game, the Seahawks could use Baldwin back in the lineup.
"We haven't had a steady dose of (Baldwin) but we love him and he's one of our guys and we're hoping he can be a factor as we kick into the second half here," Carroll said. "We're just hoping he can just stay out on the field because he's a really good player and a guy we like to go to."
Notes: WR Braylon Edwards (knee) and DT Jason Jones (ankle) are both officially out for Sunday's game. ... DT Greg Scruggs returned to practice Friday and is expected to play with an oblique strain. He's listed as questionable. CB Byron Maxwell (hamstring) and G James Carpenter (illness) are also questionable. ... RB Marshawn Lynch (back) and G John Moffitt (knee) are probable. ... DT Alan Branch missed Friday's practice because of a death in the family. He is expected to be back for Sunday's game.