Upper　extremity　rehabilitation　exoskeletons　are　the　key　devices　for　stroke　patients　with　movement　function　disorders.　Based　on　the　configuration　synthesis　and　optimum　principles　of　4-DOFs　upper　limb　exoskeleton　mechanisms,　an　exoskeleton　mechanism　compatible　with　upper　limb　were　presented.　When　the　exoskeleton　was　worn　to　the　upper　extremity,　a　kinematic　chain　with　two　closed　loops　was　formed.　Moreover,　the　kinematic　equations　of　the　chain　were　established　and　a　position　solution　method　was　addressed.　Based　on　the　presented　position　solution,　the　kinematic　characteristics　during　eating　movement　were　investigate.　The　conclusion　suggested　that　the　exoskeleton　was　applied　to　the　upper　extremity　rehabilitation　and　can　be　applied　as　main　structural　design　parameters　for　the　presented　exoskeleton.　©　Published　under　licence　by　IOP　Publishing　Ltd.