The first Yoshimitsu chronologically appeared in Soulcalibur, as a member of the Oda clan.
This Yoshimitsu gains a namesake descendant in the Tekken series.
Both incarnations of Yoshimitsu fight with a sword attached to a mechanical arm, allowing a loituma-like attack that either hurts enemies or knock them back. They also tend to whiff some moves for hilarious purposes, hence the joke character status.