The aim of this study was to investigate the effect of viscoelastic factors on human gait forms, limb segment angles, and endpoint trajectories during walking in water relative to their effect during walking on land. Basic motion analysis methods were applied for each walking condition, and the joint angular displacements are shown in a three-dimensional (3D) plot. The drag force had little effect on the human gait form and the angle between the planar plane of the stance and swing phases in the 3D plot. These results suggest that the joint angular displacement controller, which consisted of three inputs and the feedback signals of the joint torque, was adopted in the central nervous system. In addition, the foot contact information might include the transition of the joint angular displacement controller from the stance / swing phase to the swing / stance phase.