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Often martial artists confuse ground fighting with the skill, kansetsu-waza, which means standing joint locks. This is different from ground work, ne-waza, although many of the techniques may resemble each other. The distinction is you are standing. Judo-ka do not put a lot of emphasis on kensetsu waza, but quite a bit on ne-waza.
At the heart of the body's balance system is the primary square, the torso with a visualized square between the shoulder joints and the hip joints. The arms legs, head/neck, and groin are the secondary sytems. If you attack a secondary system, it is to effect the primary square. (Don't forget this system is part of the theory of the cones.)
Using this model, you are sparring with an opponent. He throws a roundhouse kick to your chest. As he executes, you penetrate into his space, past the tip of his cone, his defensive zone, and you execute the move from Wansu, where you block accross your face, with the right, and shoot out, open handed up with your left, as you twist into the crane stance. (Left or right works the same)
Your right hand blocks his kick, and your left puts him in a joint lock, at the knee. You can drive him straight down, or pull him out from under his legs. The key is using the move for kansetsu waza. If you execute the same move on the opponents arm, again you are using the move for a joint lock. Follow up moves from here are a matter of choice.
This blocking grab can be done with incredible speed. It is faster than another counter for the roundhouse kick where you trap the leg, and throw by kicking the other leg out from under the opponent.
Sensei Tom Saunders