Also known as Aikijujutsu, Daito-Ryu Aikijutsu was originally developed during feudal times by the Takeda clan, in support of the Emperor. In modern times, the term refers to the style of Daito-Ryu Aikijujutsu developed by
Takeda Sokaku[?]. This style was taught primarily to police officers and the military, and was a central influence in
Ueshiba Sensei's development of
Aikido.