Men Competitions
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1994 | Paris , France | France | Germany | Japan |
| Russia | ||||
| 1997 | Osaka , Japan | no men's competition | ||
| 1998 | Minsk , Belarus | Japan | Brazil | France |
| Russia | ||||
| 2002 | Basel , Switzerland | Japan | Georgia | France |
| Italy | ||||
| 2006 | Paris , France | Georgia | Russia | France |
| South Korea | ||||
| 2007 | Beijing , China | Japan | Brazil | China |
| South Korea | ||||
| 2008 | Tokyo , Japan | Georgia | Uzbekistan | Brazil |
| Russia | ||||
| 2010 | Antalya , Turkey | Japan | Brazil | Russia |
| South Korea | ||||
| 2011 | Paris , France | France | Brazil | Japan |
| South Korea | ||||
| 2012 | Salvador , Brazil | Russia | Japan | Brazil |
| Georgia | ||||
| 2013 | Rio de Janeiro , Brazil | Georgia | Russia | Germany |
| Japan | ||||
| 2014 | Chelyabinsk , Russia | Japan | Russia | Georgia |
| Germany | ||||
| 2015 | Astana , Kazakhstan | Japan | South Korea | Georgia |
| Mongolia |
Women Competitions
| Year | Location | Women | ||
|---|---|---|---|---|
| Gold | Silver | Bronze | ||
| 1994 | Paris , France | no women's competition | ||
| 1997 | Osaka , Japan | Cuba | South Korea | France |
| Japan | ||||
| 1998 | Minsk , Belarus | Cuba | France | Belgium |
| China | ||||
| 2002 | Basel , Switzerland | Japan | Cuba | China |
| Italy | ||||
| 2006 | Paris , France | France | Cuba | China |
| Japan | ||||
| 2007 | Beijing , China | China | Cuba | Japan |
| Mongolia | ||||
| 2008 | Tokyo , Japan | Japan | France | China |
| Germany | ||||
| 2010 | Antalya , Turkey | Netherlands | Germany | Japan |
| Turkey | ||||
| 2011 | Paris , France | France | Japan | Cuba |
| Germany | ||||
| 2012 | Salvador , Brazil | Japan | China | Brazil |
| Cuba | ||||
| 2013 | Rio de Janeiro , Brazil | Japan | Brazil | Cuba |
| France | ||||
| 2014 | Chelyabinsk , Russia | France | Mongolia | Germany |
| Japan | ||||
| 2015 | Astana , Kazakhstan | Japan | Poland | Germany |
| Russia |