Aikijutsu, also known as Aikijujutsu, is a form of self-defence. Daito-Ryu Aikijutsu was originally developed during feudal times by the Takeda clan, in support of the Emperor. In modern times, the best-known style of aikijutsu is that developed by Takeda Sokaku from Daito-Ryu. This style was taught primarily to police officers and the military, and was a central influence in Ueshiba Sensei's development of Aikido.