This paper presents a prototype of a three degree of freedom mannequin simulator for rehabilitation education. A three degree of freedom (shoulder 2, elbow 1) model which is similar to the human body is developed. In addition design of mathematical model with consideration about the resistance of muscles and ligaments is proposed. To apply ROM inspection method to the mannequin simulator, this paper introduces the PID controller of the mannequin simulator prototype with the ROM inspection method. Rehabilitation specialists verify the mannequin simulator with the ROM test method, and the validation experiments show that the simulator has “good” levels of similarity.