Olympic champion Kim Jae-Bum was a surprise early exit in the men's under 81 kilogram event ©Getty Images

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He was soon followed by last year's bronze medallist Ivan Nifontov of Russia ©Getty Images

Brazil's Victor Penalber met the 2014 champion Avtandili Tchriskishvili of Georgia in a bronze medal bout ©Getty Images

The Brazilian triumphed and celebrated adding to his country's medal tally ©Getty Images

Japan's Takanori Nagase faced France's Loic Pietri in the gold medal match ©Getty Images

Takanori Nagase triumphed to secure his first world title ©Getty Images

Defending champion Clarisse Agbegnenou of France beat Israel's Yarden Gerbi in the women's under 63 kilogram semi-final ©Getty Images

Yarden Gerbi would also lose her bronze medal bout to Mongolia's Munkhzaya Tsedevsuren ©Getty Images

Slovenia's Tina Trsteniak was bidding to underline her number one ranking by claiming gold ©Getty Images

Tina Trsteniak achieved her aim of winning her country's first ever World Judo Championships title ©Getty Images