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I wouldnt say Kendo is fighting with staves(jo or Bo), we use a shinia(made from strips of bamboo or rattan) or in some cases a bokken(which is rather solid) Iado is the art form of drawing the sword and techinques Kendo you get to really put it into application. Kendo requires a complete suit of armor, otherwise you would be dead. A shinia can kill you just as easily as an actual sword can in the right hands.
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