| Year | Host | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2017 | Budapeşte, Macaristan | Japonya | Brezilya | Fransa Güney Kore |
| 2018 | Baku, Azerbaycan | Japonya | Fransa | Güney Kore Rusya |
| 2019 | Tokyo, Japonya | Japonya Chizuru Arai Shori Hamada Hisayoshi Harasawa Soichi Hashimoto Kokoro Kageura Shoichiro Mukai Sanshiro Murao Shohei Ono Yoko Ono Akira Sone Momo Tamaoki Tsukasa Yoshida | Fransa 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 | Rusya Ksenia Chibisova Kirill Denisov Lechi Ediev Anna Gushchina Mikhail Igolnikov Khusen Khalmurzaev Anastasia Konkina Daria Mezhetskaia Evgeny Prokopchuk Alena Prokopenko Madina Taimazova Inal Tasoev Brezilya 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 |
| 2021 | Budapeşte, Macaristan | Japonya Maya Akiba Haruka Funakubo Kenshi Harada Soichi Hashimoto Kokoro Kageura Kosuke Mashiyama Kenta Nagasawa Saki Niizoe Yoko Ono Kazuya Sato Momo Tamaoki Wakaba Tomita | Fransa Francis Damier Gaëtane Deberdt Clémence Eme Léa Fontaine Joan-Benjamin Gaba Marie-Ève Gahié Enzo Gibelli Astride Gneto Cyrille Maret Alexis Mathieu Cédric Olivar Julia Tolofua | Özbekistan Shukurjon Aminova Davlat Bobonov Rinata Ilmatova Shermukhammad Jandreev Diyora Keldiyorova Farangiz Khojieva Iriskhon Kurbanbaeva Gulnoza Matniyazova Obidkhon Nomonov Sardor Nurillaev Belmurod Oltiboev Muzaffarbek Turoboyev Brezilya Maria Suelen Altheman Eduardo Barbosa Rafael Macedo David Moura Ketelyn Nascimento Larissa Pimenta Maria Portela Ketleyn Quadros Eduardo Yudy Santos Rafael Silva Beatriz Souza Eric Takabatake |
| 2022 | Taşkent, Özbekistan |
