Scott managed Simpson in his time Brentford and the player also netted against the Millers for the Terriers in last seasons JPT Northern round qualifier.
Scott revealed his interest in the player to the Star and he is also looking for two other recruits - a decision on trialist Jeff Smith which could cover the teams left sided options is still pending.
“I know Robbie very well. I managed him at Brentford. A couple of staff here have kept in contact with him because he's a good lad. He is a good player but there are a lot of factors which would determine whether it was possible or not," said Scott.
“I think he would do well in our side but whether that happens or not we will have to wait and see.
"We need to be able to change the way we play a little bit and signing someone with some physical presence might do that,” he added. “But there is no point in signing someone if he doesn’t fit in with the way you play.”
Out of favour striker Tom Pope is still weighing up a contract offer from Morecambe as he continues to train with the reserves.