According to one account, it was created by the Venusians on Venus, which meant it worked best with five arms and five legs. (PROSE: First Frontier) Another account stated that the Doctor himself invented it. (PROSE: Interference - Book One) The Second Doctor learned the arts of Venusian aikido whilst on Venus with Jamie McCrimmon and Victoria Waterfield. (AUDIO: Voyage to Venus) The Third Doctor used it to disable Professor Stahlman. He claimed that, if the move was held for a period, it would paralyse the target permanently. (TV: Inferno)