Anyone remember Die by the Sword? Admittedly it was more sword flailing than sword fighting, but it's the only game I've played that had a semblance of direct control. It was also the first game to use IK for everything from sword fighting to rope swinging and ladder climbing. Even nowadays it's rare to see IK used in games for anything except relatively minor pose fix-ups (blending canned poses offers better control, and IK fix-ups can then be applied on top to get perfect alignment for aiming, etc).