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The rule is if the punt returner has an opportunity to catch the kick after the muff, he must be given an unimpeded opportunity to complete the catch. The rule says nothing about the ball having to hit the ground. Only if the punt returner has an opportunity to catch it after the muff. So if the ball popped straight up in the air he would have an opportunity to catch it. If it hit him and bounced 10 yards away, he really wouldn't have an opportunity to catch that. In this particular instance, the ball rebounded off Hurleman pretty hard and the officials could have determined that he would not have been able to catch it after the muff.