TKD effectively split into two styles in the mid 60s, when Gen. Choi split left the KTA, left Korea and formed the ITF.
ITF never had a presence in Korea, where the rules would turn to full contact in various forms. ITF rules were never full contact, due in large part to whom they were teaching TKD - the West. Jhoon Rhee, the inventor of Saf-T gear, the original red gloves, booties and helmets most associated with point fighting, was associated with the ITF. This was in full swing during the 70s, right around the time the KTA was setting up the WTF as the worldwide governing body of TKD.
The KTA was more heavily influenced by a boxing mode of thinking, which is why full matches were 3 rounds by 3 minutes, cumulative score and emphasized hard, full contact.
During the time that the ITF was recruiting overseas Koreans, the KTA experimented with various sets of rules with the aim of promoting full power han-bang (one-shot) techniques and thus tried to come up with ways of protecting fighters. Various hogu were tried, starting with kendo bogu. One of the first TKD specific hogu were covered bamboo slats, which had to be audibly broken/split by hand or foot technique to score a point. This mentality lead to the phrase most often translated as "trembling shock" as a requisite for a scoring point. Up until the late 80s/early 90s, full 9 minute matches would often end in 0-1 or 2-1 type scores. Scores above 5 points were rare. Matches with that many heavy strikes being thrown usually ended in a knockout.
Some time in the 90s, this mentality was lost as WTF TKD became a full Olympic sport and emphasis shifted to speed and counterfighting. Because one of the flags for scoring criteria for a hard hit was the loud slap a foot makes on the hogu, elite players began playing for the sound and not the actual hit. Sports bureaucrats supported this because it made for a faster, more exciting (read: higher point) sport for spectators. The concept of trembling shock fell by the wayside. These days, power is an afterthought in the Olympic TKD game. It's fully allowable, but no longer really a requisite, despite the letter of the rules.