 Ueshiba originally taught various partnered drills and techniques with the "jō", and Saito originally codified them into a discrete series of seven such partner drills.In 1983, Saito was set to give a public demonstration, and so devised three more "kumijō" at that time.The "kumijō" teach students how to alternately control the center line and move off of it to avoid attacks as well as how to blend with an opponent's attacks, among other skills.