Kyomu Senshi Miroku

A man is brutally dismembered and left for dead after witnessing his family’s murder. Stranded on a remote planet, he awakens psychic powers, rebuilds his body as a cyborg, and sets out on a path of revenge.

In the early Edo period, Yukimura Sanada, who was believed to have died in the Battle of Osaka, has returned as a demon. Yukimura plans to seize power by unleashing the Horse-headed Dragon, which is being guarded by the Kowloon clan. He is accompanied by the Sanada Ten Braves, a group of demons with the power of the Sanada Yoho. Mugen Mireku, the son of the head of the Kowloon clan, stands up with his friends to stop Sanada Yukimura's ambitions. In the course of the gruesome battle against super-human and demonic enemies, Mireku realizes his destiny as the reincarnation of King Mireku himself. (Source: Mangapedia, translated)

Part of Ken Ishikawa's Kyomu Senki (Records of Nothingness) series. Revolves around a biomechanical mecha called Jakio.