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| Year | Host City | Gold | Silver | Bronze |
| 2003 | Santiago | China | Japan | Czech |
| 2004 | Kobe | China | Japan | Romania |
| 2005 | Linz | China | Hungary | Spain |
| 2006 | Cairo | China | Japan | Hungary |
| | | | Romania |
| 2007 | Palo Alto | China | Romania | Poland |
| | | | South Korea |
| 2008 | Madrid | China | Japan | Germany |
| | | | South Korea |
| 2009 | Colombia | China | Japan | Hong Kong |
| | | | South Korea |
| 2010 | Bratislava | Japan | China | Germany |
| | | | South Korea |
| 2011 | Manama | China | Japan | Chinese Taipei |
| | | | Hong Kong |
| 2012 | Hyderabad | China | Japan | Germany |
| | | | Hong Kong |
| 2013 | Rabat | China | Japan | Romania |
| | | | Hong Kong |
| 2014 | Shanghai | China | Japan | Hong Kong |
| | | | United States |
| 2015 | Vendée | China | South Korea | United States |
| | | | Romania |
| 2016 | Cape Town | Japan | China | Hong Kong |
| | | | South Korea |
| 2017 | Riva del Garda | China | Japan | South Korea |
| | | | Romania |
| 2018 | Bendigo | China | Japan | South Korea |
| | | | Russia |
| 2019 | Korat | China | Japan | Chinese Taipei |
| | | | North Korea |
