1st 1995 Copenhagen, Denmark
2nd 1998 Acapulco, Mexico
3rd 2001 Vancouver, Canada
4th 2004 Kobe, Japan
5th 2007 Barcelona, Spain
6th 2010 Boston, USA
7th 2013 Lima, Peru
8th 2016 Melbourne, Australia
9th 2019 Berlin, Germany
10th 2023 Seoul, South Korea