Over the years, many Pilates Instruction programs have taken shape. Pilates Instructors often make use of brilliant machines such as the Reformer, Cadillac and various Pilates "chairs". However, when Mr. Joseph H. Pilates started his movement program during world war I, his training started out basically on the mat. In fact, he "never took the initiative of setting up an official training program with the result that many of his [followers] went on to teach their own versions of his method....he geared his teaching to the needs of the individual and prescribed a completely different set of exercises for each client" (The Official Body Control Pilates Manual by Lynne Robinson).