While I do not know anyone who has done a Tough Mudder course, I have had many friends do other obstacle races such as the Warrior Dash. The article talks extensively about the psychology behind the mental challenges, creating reinforcers to get veterans to come back and newbies to take the challenge. There are all sorts of psychological issues and ideas discussed in the article, so if you enjoy these races, here is why. :)
Below is their YouTube preview video
posted by Chuck Schallhorn
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