The Steelers replaced him on the roster with veteran defensive back Anthony Madison, a former Steeler.
Madison signed with the team after going undrafted in 2006.
He was with the Steelers' active roster and practice squad in each of his six seasons, but has also played for the Tampa Bay Buccaneers, Cleveland Browns, Indianapolis Colts and the Detroit Lions.
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Steelers IR Mendenhall, sign Madison
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