Robinson-Shaw made history, as women's C1 is being contested at an International Canoe Federation (ICF) World Championships event for the first time.

The 20-year-old scored 690.00 points to take the gold with ease ahead of compatriot Rebekah Green and Germany's Anica Schacher on 303.33 and 293.33 points, respectively.

"I'm really proud of all the girls in this final and all the girls who have committed to this class, because without them and without me it wouldn’t be a thing," Robinson-Shaw said.

"It's because we've paddled with C1s, we've asked for it, and if you don't ask, you don't get.

"I think it will take off, especially after this world championships, I think more girls will be inspired to do it, and it's about time.

"It wasn't fair that there was just a men's category."

Miller emulated the achievements of his father Brian by winning the men's canoe final, edging out three-time and American team-mate Dane Jackson by 993.33 points to 840.00, before 2019 world champion Tom Dollé of France took bronze with a score of 836.67.

German Philip Josef narrowly won gold with 230.00 points in the open canoe final despite finishing on the same score as Canada's Zachary Zwanenburg, as he had a higher average over the three rounds.

Adria Bosch Roca of Spain took bronze with 95.00 points.

Robinson-Shaw also claimed the women's kayak squirt title ahead of Tamsyn McConchie, also of Britain, and Japan's Hitomi Takaku.

Clay Wright of the US prevailed in the men's kayak squirt as he fended off challenges from Britain's Alex Edwards and countryman Taft Sibley.