| Year & Place | Men's Team | Women's Team |
| XXXII | 2017 Sofia, Bulgaria | | |
| XXXI | 2015 Odense, Denmark | Russia | China |
| XXIX | 2013 Sofia, Bulgaria | China | Great-Britain |
| XXVIII | 2011 Birmingham, Great Britain | Japan | China |
| XXVI | 2009 St Petersburg, Russia | China | China |
| XXV | 2007 Quebec QC, Canada | China | China |
| XXIV | 2005 Eindhoven, The Netherlands | China | China |
| XXIII | 2003 Hannover, Germany | Germany | Russia |
| XXII | 2001 Odense, Denmark | Russia | Ukraine |
| XXI | 1999 Sun City, South Africa | Russia | Russia |
| XX | 1998 Sydney, Australia | Russia | Russia |
| XIX | 1996 Vancouver BC, Canada | France | Russia |
| XVIII | 1994 Porto, Portugal | Belarus | Russia |
| XVII | 1992 Auckland, New Zealand | Russia | Great-Britain |
| XVI | 1990 Essen, Germany | URSS | URSS |
| XV | 1988 Birmingham AL, USA | URSS | URSS |
| XIV | 1986 Paris, France | Germany | URSS |
| XIII | 1984 Osaka, Japan | URSS | Great-Britain |
| XII | 1982 Bozeman MO, USA | France | Germany |