From around the 17th century, craftsmen began to produce karakuri ningyo by applying some techniques, including gears usedinawatch and other things, to the devices for the movements of the doll.
In the 19th century, at Tsukuba, Igashichi IIZUKA (so-called 'Karakuri Iga') invented a man-powered plane and a karakuri ningyo that went onanerrand to asake (Japanese liquor) shop.