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== Safety ==
Kano's vision for judo was one of a martial way that could be practiced realistically. Randori (free practice) was a central part of judo pedagogy and shiai (competition) a crucial test of a judoka's understanding of judo.<ref>{{cite web|last=Kano|first=Jigoro|title=The Contribution of Judo to Education|url=http://judoinfo.com/kano1.htm|website=Judoinfo.com|accessdate=10 September 2012}}</ref> Safety necessitated some basic innovations that shaped judo's development. Atemi waza (striking techniques) were entirely limited to kata (prearranged forms) early in judo's history. Kansetsu waza (joint manipulation techniques) were limited to techniques that focused on the elbow joint. Various throwing techniques that were judged to be too dangerous to practice safely were also prohibited in shiai. To maximise safety in nage waza (throwing techniques), judoka trained in ukemi (break falls) and practiced on tatami (rice straw mats).{{
=== ''Kansetsu'' and ''shime waza'' ===
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