Different uses of the proposed method include assessment training and on-site and remote assessment scenarios. (a) Training - a clinician interacting with a simulated patient rendered on a robotic device (haptic display). Different abnormal biomechanics can be rendered by the haptic display so the therapist can be trained in assessing these conditions. Manipulation techniques for assessment derived from the use of the haptic display can be extended to both on-site and remote scenarios. (b) On-site assessment - a clinician interacting with a patient using a system to assist in the assessment and determination of the abnormal limb biomechanics of a patient. (c) Remote assessment - a clinician interacting with a patient using a non-co-located setup of the system described in (b).