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Poomsae was chosen to be included in competitions for athletes with neurological, intellectual, or visual impairments.

Following the work group's recommendations, Para Taekwondo was expanded, and worldwide competitions were made available to athletes of all impairments. the Para Taekwondo Committee invited guests from Cerebral Palsy International Sports and Recreation Association (CPISRA) and International Sports Federation for Persons with an Intellectual Disability (INAS). Following the unsuccessful inclusion on the Rio 2016 Paralympic Games program, a working group was put together to discuss Para Taekwondo in 2013 during the WT World Para Taekwondo Championship.

The first Para Taekwondo Championships were held in Baku, Azerbaijan, in 2009. At first, Para Taekwondo concentrated on developing kyorugi (sparring) for arm amputees and limb-deficient athletes. The WT founded the Para Taekwondo Committee in 2006 to help promote and develop Taekwondo for athletes with an impairment. On January 31, 2017, Para Taekwondo was confirmed as a sport for the 2020 Tokyo Paralympic Games at the International Paralympic Committee (IPC) General Assembly the same year the WT became a full member of the IPC. New disciplines such as kyorugi and poomsae, both martial arts forms, have been developed for para-athletes. The sport's main governing body is World Taekwondo (WT). Para taekwondo is an adaptation of taekwondo for disabled sportspeople.