Pedrosa sustained the injury - along with concussion - in a practice crash at the Sachsenring, forcing him to sit that round out and limiting him to fifth at Laguna Seca a week later.
But he said the subsequent four-week gap had given him chance to almost completely recover.
"It's been a good summer break and I'm feeling much stronger physically," said Pedrosa.
"I've had time to relax with some friends and also have lots of physiotherapy on my shoulder to prepare myself for this second part of the season.
"I've had a medical check in the last days and we can see the bone getting stronger.
"It still needs a few more weeks to recover completely but my feeling is already much better than in Laguna."
With both Pedrosa and reigning world champion Jorge Lorenzo injured in recent rounds, the former's rookie Honda team-mate Marc Marquez has been able to extend a 16-point lead over Pedrosa, with Lorenzo a further 10 back.