| Year | Host | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2017 | Budapest, Hungary | Japan | Brazil | France South Korea |
| 2018 | Baku, Azerbaijan | Japan | France | South Korea Russia |
| 2019 | Tokyo, Japan | Japan Chizuru Arai Shori Hamada Hisayoshi Harasawa Soichi Hashimoto Kokoro Kageura Shoichiro Mukai Sanshiro Murao Shohei Ono Yoko Ono Akira Sone Momo Tamaoki Tsukasa Yoshida | France Amandine Buchard Guillaume Chaine Axel Clerget Sarah Cysique Alpha Oumar Djalo Marie-Ève Gahié Alexandre Iddir Kilian Le Blouch Anne Fatoumata M'Bairo Madeleine Malonga Cyrille Maret Margaux Pinot | Russia Ksenia Chibisova Kirill Denisov Lechi Ediev Anna Gushchina Mikhail Igolnikov Khusen Khalmurzaev Anastasia Konkina Daria Mezhetskaia Evgeny Prokopchuk Alena Prokopenko Madina Taimazova Inal Tasoev Brazil Maria Suelen Altheman Eduardo Barbosa Tamires Crude Rafael Macedo David Moura Maria Portela Ellen Santana Eduardo Yudy Santos Jeferson Santos Junior Rafael Silva Rafaela Silva Beatriz Souza |
