DOMS/soreness is not in any way related to a good or stimulative workout. It is however very much related to conditioning.
The more time you take between performing an exercise again the less accustomed your body is to it and the more sore you will get (i.e. do an exercise you haven't done in a while and you will get sore). Also, much higher volume than you are accustomed too will get you sore. A lot of BBers here seem to train using a 1x per week frequency on a bodypart (or lift). They get pretty sore when changing their exercises and gradually this becomes just a standard normal soreness week to week (for some it will completely disappear, for other not at this frequency). The more often you train the less sore you will get. A popular program is the 5x5 where you are squatting 3x per week. People are typically not sore once they get accustomed to that frequency, yet they put on a lot of muscle and their strength in the squat skyrockets. A good point to make is that 1x per week frequency is a really ****ty default as frequency is an important variable and can be used very advantageously. Most people who provide reasons for training a muscle 1x per week during the majority of the year have a very poor understanding of exercise science, the central nervous system, fatigue, supercompensation, and muscular recovery.
Moral - DOMS is inconsequential to your long term progress. Ignore it or if you are too sore to train safely (i.e. sore to the touch) do very light recovery work to get blood in the muscle and get back sooner.
Doms is more related to conditioning than anything else. Increasing frequency will tend to prevent severe Doms and even eliminate it (btw - you need to account for workload over a period so don't do your 1x per week 5x5@85% 3x a week and instantly triple your workload). Infrequent training leads to more severe DOMS (i.e. when you start working out after a long layoff or even change exercises to something you haven't been doing). Doms is not in any way an indicator of a successful or stimulative workout - consider it an uncorrelated outcome. As far as 'recovery' you are never really recovered 100% (complete tissue remodeling takes a long time), protein turnover returns to baseline in a couple of days, the limiting factor in weight training tends to be the nervous system rather than the muscle tissue (and overtraining is all about the nervous system and is systemic rather than working your biceps too often).
Soreness doesn't mean **** and largely disappears once someone is conditioned properly - for those that are always sore...yeah, frequency is too low and the load becomes too inconsistent to even get conditioned. If someone tells you otherwise, smile and run the other way because this is well known and basic outside of BBing/Gymrat circles. I'm not going to get into whether this makes certain training methodologies invalid or whatever but be assured that DOMS is not an indicator of a good or successful workout/stimulus. Many many programs result in excellent gains without any type of repeated soreness workout to workout and this hold true all the way through to the highest levels of elite athletics.
Here's a bit more on the theories behind DOMS as it's still not 100% understood exactly what the soreness stems from:
http://www.fortifiediron.net/invisio...howtopic=23534
Just to hammer home the above, if one is using a properly balanced program (i.e. volume, frequency, intensity) DOMS/soreness will not be a factor once an athlete is adequately conditioned. The fact that many people get sore consistently workout to workout is more a statement about them lacking conditioning and their program being out of balance in one or more of the above factors rather than actual recuperation. Hence they never get conditioned - usually frequency is too low and volume in a single workout relatively high (good way to get sore consistently, bad way to program training for progress on a consistent basis).
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