History
Aikijujutsu usually means Daito-ryu, a Japanese art of joint locks, throws and pins. Its tradition traces it back to the Minamoto clan in the 11th century, but it became known when Sokaku Takeda taught it widely in the late 19th and early 20th centuries.
Takeda's students included Morihei Ueshiba, who created aikido, and Choi Yong-sul, whose teaching led to Korean hapkido.