In the early 20th century, Morihei Ueshiba, also known as O’Sensei, fused several jitsu styles with large weapon movements to create the martial art of Aikido. These movements originated with Kashima Shinto ryu, which was practiced in Japan around 800 AD. One of his primary students, Shioda Gozo-Kancho, used these weapons forms in a more limited way while developing his own style, Yoshinkan Aikido. read more.