Spectral Force(1998)

Spectral Force

In a time when demons rule the world and mankind seeks freedom, human rebels gain control of the demon-slaying sword Tenmaken and attempt to assassinate the Demon King Janus. To preserve the sovereignty of her homeland, the half-human, half-demon Princess Hiro must overcome her deep hatred of the humans or face a war that will ravage the entire world!

(Source: AniDB)