Men’s Individual
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1991 | Sandefjord | Victor Wunderle (USA) | ||
| 1993 | Moliets | Bair Badenov (RUS) | ||
| 1994 | Roncegno | Victor Wunderle (USA) | ||
| 1996 | Chula Vista | Jackson Fear (AUS) | ||
| 1998 | Sunne | Oh Jin-Hyek (South Korea)) | ||
| 2000 | Belfort | Chung Young-Soo (South Korea) | ||
| 2002 | Nymburk | Anton Prylepau (BLR) | ||
| 2004 | Lilleshall | Tim Cuddihy (AUS) | ||
| 2006 | Mérida | Romain Girouille (FRA) | ||
| 2008 | Antalya | Luca Melotto (ITA) | ||
| 2009 | Ogden | Sung Woo-Kyeong (South Korea) | ||
| 2011 | Legnica | Sung Woo-Kyeong (South Korea) | ||
| 2013 | Wuxi | Robin Ramaekers (BEL) | Kacper Sierakowski (Poland) | Vitaliy Komonyuk (Ukraine) |
| 2015 | Yankton | Min Byeong-yeon (South Korea) | ||
| 2017 | Rosario | Taeyeong Jeong (South Korea) | Han Jae-yeop (South Korea) | Ricardo Soto (Chile) |
| 2019 | Madrid | Kim Hyeonjong (South Korea) | Jack Williams (United States) | Lee Jinyong (South Korea) |
Women’s Individual
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1991 | Sandefjord | Denise Parker (USA) | ||
| 1993 | Moliets | Karin Larsson (SWE) | ||
| 1994 | Roncegno | Kang Hyun-Ji (South Korea) | ||
| 1996 | Chula Vista | Kang Hyun-Ji (South Korea) | ||
| 1998 | Sunne | Kim Nam-Soon (South Korea) | ||
| 2000 | Belfort | Choi Ok-Nam (South Korea) | ||
| 2002 | Nymburk | Kim Yu-Mi (South Korea) | ||
| 2004 | Lilleshall | Jo Eun-Ji (South Korea) | ||
| 2006 | Mérida | Kim So-Yun (South Korea) | ||
| 2008 | Antalya | Mikie Zushi (JPN) | ||
| 2009 | Ogden | Lee Yu-Jin (South Korea) | ||
| 2011 | Legnica | Deepika Kumari (IND) | ||
| 2013 | Wuxi | Jeon Sung-Eun (South Korea) | Sim Ye-Ji (South Korea) | Lim Hee-Seon (South Korea) |
| 2015 | Yankton | Peng Chia-mao (TPE) | ||
| 2017 | Rosario | Kim Kyoung-eun (South Korea) | Kuo Ting-an (Chinese Taipei) | Melanie Gaubil (France) |
| 2019 | Madrid | Valentina Acosta Giraldo (Colombia) | Ana Paula Vasquez (Mexico) | Jang Min Hee (South Korea) |
Men’s Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1991 | Sandefjord | Soviet Union | ||
| 1993 | Moliets | United States | ||
| 1994 | Roncegno | Italy | ||
| 1996 | Chula Vista | South Korea | ||
| 1998 | Sunne | South Korea | ||
| 2000 | Belfort | Germany | ||
| 2002 | Nymburk | South Korea | ||
| 2004 | Lilleshall | |||
| 2006 | Mérida | Germany | ||
| 2008 | Antalya | Australia | ||
| 2009 | Ogden | South Korea | ||
| 2011 | Legnica | South Korea | ||
| 2013 | Wuxi | Russia Galsan Bazarzhapov Bolot Tsybzhitov Beligto Tsynguev | United States Jeremiah Cusick Daniel McLaughlin Sean McLaughlin | Netherlands Jesher Appels Mitch Dielemans Sjef van den Berg |
| 2015 | Yankton | South Korea | ||
| 2017 | Rosario | South Korea Han Jae-yeop Jeong Tae-yeong Heo Jae-woo | India Jemson Singh Ningthoujam Shukmani Gajanan Babrekar Atul Verma | Russia Erdem Irdyneev Alexey Krivolap Erdem Tsydypov |
| 2019 | Madrid | South Korea | Japan | Netherlands |
Women’s Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1991 | Sandefjord | Italy | ||
| 1993 | Moliets | Sweden | ||
| 1994 | Roncegno | South Korea | ||
| 1996 | Chula Vista | South Korea | ||
| 1998 | Sunne | China | ||
| 2000 | Belfort | South Korea | ||
| 2002 | Nymburk | South Korea | ||
| 2004 | Lilleshall | |||
| 2006 | Mérida | South Korea | ||
| 2008 | Antalya | China | ||
| 2009 | Ogden | South Korea | ||
| 2011 | Legnica | South Korea | ||
| 2013 | Wuxi | Ukraine Anastasia Pavlova Polina Rodionova Lidiia Sichenikova | South Korea Jeon Sung-Eun Lim Hee-Seon Sim Ye-Ji | China Zhang Xinyan Zhu Jiani Zhu Yuwei |
| 2015 | Yankton | South Korea | ||
| 2017 | Rosario | Italy Vanessa Landi Lucilla Boari Tatiana Andreoli | China Xu Zhiyun Long Xiaoqing Li Jiaman | Chinese Taipei Ku Yun-Fei Kuo Ting-An Lin Chih-Yu |
| 2019 | Madrid | South Korea | Chinese Taipei | Spain |
Mixed Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2011 | Legnica | South Korea | ||
| 2013 | Wuxi | South Korea Sim Ye-Ji Kim Joo-Wan | Spain Mirene Etxeberria Miguel Alvarino Garcia | Russia Kristina Timofeeva Bolot Tsybzhitov |
| 2015 | Yankton | South Korea | ||
| 2017 | Rosario | India Ankita Bhakat Jemson Singh Ningthoujam | Russia Svetlana Gomboeva Erdem Irdyneev | Turkey Mete Gazoz Yasemin Anagoz |
| 2019 | Madrid | South Korea | France | China |