Henderson is back fit after a hamstring injury that kept him out of the last four games, and the captain is likely to start in the Reds’ last-16 decider at Anfield.
Liverpool head into the tie with a 1-0 deficit, and Jurgen Klopp urged his players to “expect a really ‘experienced’ performance from Atletico” and show they are “better than the first game.”
Klopp took a backseat as Andreas Kornmayer put the squad through their paces in front of the cameras at Melwood, with no surprises in terms of the squad involved.
Klopp is not likely to make many changes from the side that won at Anfield on Saturday, with Robertson set to replace James Milner at left-back and, potentially, both the captain and vice-captain coming into midfield.
There is a big decision to make over Fabinho, who has been out of form since his return from injury but still one of the Reds’ best options in the middle of the park.
Liverpool’s Squad Training for Atletico
Defenders: Van Dijk, Gomez, Matip, Lovren, Alexander-Arnold, Robertson, Williams
Midfielders: Henderson, Fabinho, Wijnaldum, Oxlade-Chamberlain, Keita, Milner, Lallana, Jones
Forwards: Salah, Mane, Firmino, Origi, Minamino
* Goalkeepers trained separately.