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An original date of 1200AD has been claimed, but some time during the late 15th or early 16th century is more likely. Most modern schools consider samurai called Hayashizaki Jinsuke Minamoto no Shigenobu (1546 - 1621?) as the originator of iaido. Not much is known about his life, and some scholars doubt his existence as a historical figure. The two largest schools of iaido that are practised today, Muso Shinden Ryu and Muso Jikiden Eishin Ryu, both claim a lineage starting with Hayashizaki.
While not a hard and fast rule, frequently the word iaido is used to refer to the modern self improvement oriented form taught by the Zen Nihon Kendo Renmei (ZNKR) and other iaido associations while iaijutsu is used for the older, combative techniques of the koryu. The word iaido itself was coined by Nakayama Hakudo in early 20th century. Before that various other names like batto, battojutsu, or saya no uchi were used instead.
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