When was hapkido originated?

The origin of Hapkido is mildly debated but one story is generally accepted. Choi Yung Sool was a korean boy taken to Japan that served Sokaku Tokada (a samurai and well accredited martial artists). What Choi did under Tokada is unsure, but it's likely that he learned his Martial Arts skills at this time. Choi then returned to Japan and started his own martial art that would, after several name and style changes, become Hapkido. Doju Ji Han Jae was one of his students and is sometimes known as the founder of modern Hapkido