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I have spent many nights wondering how to employ full resistance sparring into Aikido, and I'm not sure if it's possible given the nature of the techniques and the very small range of motion of a wrist versus the arc of an arm extending or major joint locking out.
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(trumpets please)
One person has a tanto, one person doesn't. Figure things out.
On another note, a blue belt in BJJ actually means something. It takes anywhere from 2-3 year to get one, and that means the person has had 2-3 years of full-resistance randori. A confident instructor means only one of two things: 1) He's only thought about for a long time and has convinced himself, or 2) He's actually competent. I'm voting for the latter.