It is said that in the late Heian period a grandchild of Shigeto URANO, whose name was Sigenaga ASUKE, lived in Asuke-cho, Mikawa Province and called himself the Asuke clan, and for generations since then it was based at Iimori-jo Castle, in Mikawa Province.
平安時代末期に浦野重遠の孫・足助重長が三河国足助町の地に住んで足助氏を称したことに始まり、代々飯盛城(三河国)を本拠とした。