Minamoto no Yoshimitsu (1056-1127) was the first warlord, to organize and chart the Aiki system. His son Yoshikiyo continued the fighting system under the familyname Takeda in the provincie of Kai. The system was to become known as Takeda-ryu Aiki-no-jutsu. All Takeda samurai were trained according to the Takeda-ryu Aiki-no-jutsu system and the school went on from generation to generation, until the 16th century.
Inside Takeda Ryu there was taught the complex art of war, including many more martial disciplines as Jujutsu, Aikijutsu, Ju-Kempo (fighting with empty hands, based on suppleness principles), Iaido / Kenjutsu (the art of fighting with sword), Jodo, Shugi Jutsu (the fight with batons of different dimensions), Shuriken Jutsu (cutting blades). But also the elements of Heiho Jutsu (military strategy and tactics), Ba Jutsu (the riding art), Bujutsu Ido (traditional medicine), infiltration and espionage tactics (Shinobi Jutsu).
Takeda Nobutora (1493-1573) was leader of the Takeda clan, and Daimyo of the province of Kai. The father of Takeda Katsuchiyo.
Takeda Shingen (1521-1573) was born Takeda Tarō (Katsuchiyo), but was later given the formal name of Takeda Harunobu authorized by Ashikaga Yoshiharu, the 12th Ashikaga Shogun. He changed it to Shingen in 1551. He was victorious in many battles, until at a decisive engagement died in his war camp before he could resolve the almost complete victory over Tokugawa Ieyasu which could have made him the ruler of Japan.
Takeda Katsuyori became the Daimyo of the Takeda clan and desired to continue the legacy of his father. He moved on to take Tokugawa forts. However an allied force of Tokugawa Ieyasu and Oda Nobunaga dealt a crushing blow to the Takeda in the Battle of Nagashino. Oda Nobunaga's gunmen destroyed the Takeda cavalry. Ieyasu seized the opportunity and defeated the weak Takeda led by Takeda Katsuyori in the Battle of Temmokuzan. Katsuyori committed suicide, and the Takeda clan did not recover from this defeat.
Takeda Kunitsugu of the Minamoto clan fled to the province of Aizu, thus bringing the knowledge of the Takeda-ryu to the Aizu clan. Some Takeda members remained in Kai continuing the development of the system in secret until not so long ago. The Takeda ryu is again publicly active, in Japan but also throughout the world.
Takeda Nobutomo (Shingen's brother)
Takeda Tadakatsu (19th/20th century)
Nakamura Yoshitoshi (the first non Takeda member)
Nakamura Hisashi (44th and current Soke)