To my knowledge; Dr. Kano contributed the more scientific theory of his martial philosophy, (judo) by actually planning and diagramming precise foot angles, body positioning angles of execution for more effective (less lethal) and lethal (kodokan) chokes, strangles and joint locks, rise and fall throwing trajectories and the human body's impact properties! I assume this type of contribution would give rise to the more aero- dynamically high impact throws as well as highly effective restraining holds, choke-outs and strangles etc,.
Sincerely, In Humility;
Chiduce!