The assisted limb rehabilitation process is commonly associated with advanced control of the affected limb through robotic assistance and human interference. The robotic element is only expected to be able to reproduce the motion suitable for large variations of patient’s condition within a reasonable accuracy and stiffness. Therapist’s intervention of fine-control is in the format of planar elements (like pelvis linkage) or joints (like knee), which relate to trajectory or orientation adjustments. The rehabilitation process has to consider the patient’s ability, limit and motion constraint that form those two factors. The parameters for controlling these is associated with kinematic, that defines the behaviour and characteristic of the lower limb. The developed 3D Python simulation system allows for this fine-tuning in the form of slice analysis and interval analysis. The results show that Bezier could be successfully used in various development aspects of parallel robots. The Hybrid and Hexapod robot configurations in this study can then be linked to a Haptic controller that runs on Python’s Haptic engine.