The neurological conditions can cause the disability of upper limb and the rehabilitation therapy can help the patients to restore their upper limb motion. However, the current method for upper limb rehabilitation assessment is very basic. The aim of this work is to develop a system and visualize the information to support the doctors and clinicians in the assessment of upper limb motion of patients who are undertaken neurological rehabilitation. Movement tracking including position and orientation have been tracked and data analysis have been done in both time domain and frequency domain. Furthermore, movement smoothness analysis has been done to obtain more information from patients’ movement recovery. The created information visualization can provide objective measurements of patients’ motion recovery and insightful information and for doctors and clinicians including the frequency analysis and movement smoothness analysis. The findings showed the system is able to provide accurate position within 0.1 cm and orientation tracking within 1 degree and meaningful insights for the assessment of upper limb motion functions in daily rehabilitation assessment by providing doctors and clinicians with visualizations of the objective measurements.