In the end, it was Yip's competitive drive that saw her claw her way back into the game.
"I don't like losing. Maybe you can call it a need for speed. It can be about the stupidest things, like wanting to be the first to press the lift button. I just have a competitive streak in me, and as long as I set my mind on something, I want it," she said.
"I know that I cannot snooze, go back to bed and say I don't want to do this, because training is part of the journey and with every single session I know it brings me nearer to my goal."
She made her comeback late in 2010, resuming training at least 12 times a week. She qualified for the London Paralympics after only a year of training, but, agonisingly, finished fourth in both her events.
Which is why this year's Games in Rio de Janeiro, which come after a full four years of preparation, mean more to Yip, especially since she is unsure whether she will attempt to qualify for the next edition in Tokyo.
Medals are definitely on her agenda but she wants more. "From a kid who didn't know much about para sports, to eventually becoming a Paralympian... I want to tell people that if you want it bad enough you can get there somehow," said Yip.
"I just hope that my actions are able to (inspire) other Singaporeans."
Few would dispute that they already have.
VIDEOS
Yip Pin Xiu on how she wants to inspire Singaporeans with her swims: http://str.sg/4ppX
Syahidah Alim on how she picked up archery: http://str.sg/4cCh
Gemma Rose Foo on how horse riding has given her a sense of freedom and purpose in life: http://str.sg/4pZd