| 1960 | | Long Beach, California | Unplaced |
| 1961 | | Long Beach | Unplaced |
| 1962 | | Long Beach, California | Unplaced |
| 1963 | | Long Beach | Unplaced |
| 1967 | | Tokyo | Unplaced |
| 1968 | | Tokyo | Unplaced |
| 1969 | | Tokyo | Unplaced |
| 1970 | | Osaka | Unplaced |
| 1971 | | Long Beach | Unplaced |
| 1972 | | Tokyo | Unplaced |
| 1973 | | Osaka | Unplaced |
| 1974 | | Tokyo | Unplaced |
| 1975 | | Okinawa | Unplaced |
| 1976 | | Tokyo | Unplaced |
| 1977 | | Tokyo | Unplaced |
| 1978 | | Tokyo | Unplaced |
| 1979 | | Tokyo | Unplaced |
| 1980 | | Tokyo | Unplaced |
| 1982 | | Fukuoka | Unplaced |
| 1983 | | Osaka | Unplaced |
| 1984 | | Yokohama | Unplaced |
| 1985 | | Tsukuba | Unplaced |
| 1986 | | Nagasaki | Unplaced |
| 1987 | | Tokyo | Unplaced |
| 1988 | | Gifu | Unplaced |
| 1989 | | Kanazawa | Unplaced |
| 1990 | | Osaka | Semifinalist |
| 1991 | | Tokyo | Unplaced |
| 1992 | | Nagasaki | Unplaced |
| 1993 | | Tokyo | Unplaced |
| 1994 | | Ise | Unplaced |
| 1995 | | Tokyo | Semifinalist |
| 1996 | | Kanazawa | Finalist |
| 1997 | | Kyoto | Unplaced |
| 1998 | | Tokyo | Semifinalist |
| 1999 | | Tokyo | Unplaced |
| 2000 | | Tokyo | Unplaced |
| 2001 | | Tokyo | Unplaced |
| 2002 | | Tokyo | Unplaced |
| 2003 | | Tokyo | Semifinalist |
| 2004 | | Beijing | Unplaced |
| 2005 | | Tokyo | Unplaced |
| 2006 | | Beijing | Unplaced |
| 2007 | | Tokyo | Unplaced |
| 2008 | | Macau | Unplaced |
| 2009 | | Chengdu | Unplaced |
| 2010 | | Chengdu | Unplaced |
| 2011 | | Chengdu | Unplaced |
| 2012 | | Naha | Unplaced |
| 2013 | | Tokyo | Unplaced |
| 2014 | | Tokyo | Unplaced |
| 2015 | | Tokyo | Unplaced |
| 2016 | | Tokyo | Unplaced |
| 2017 | | Tokyo | Unplaced |
| 2018 | | Tokyo | Unplaced |
| 2019 | | Tokyo | Unplaced |
| 2022 | | Tokyo | Unplaced |
| 2023 | | Shibuya, Tokyo | 4th runner-up |
| 2024 | | Tokyo | 1st runner-up |
| 2025 | | Tokyo | 2nd runner-up |
