i am thinking of between 100-300 years ago because judo was founded when the samurai's had wars.
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Men's judo debuted at the 1964 Games in Tokyo and women's judo debuted at the 1992 Games in Barcelona.
Women first competed in judo at the 1988 Games in Seoul as a demonstration sport with no medals awarded. Medals were first awarded in women's judo at the 1992 Games in Barcelona.