The　upper-limb　rehabilitation　exoskeleton　is　a　critical　piece　of　equipment　for　stroke　patients　to　compensate　for　deficiencies　of　manual　rehabilitation　and　reduce　physical　therapists＇　workloads.　In　this　paper,　configuration　synthesis　of　an　exoskeleton　is　completed　using　advanced　mechanism　theory.　To　adapt　glenohumeral　(GH)　movements　and　improve　exoskeletal　compatibility,　six　passive　joints　were　introduced　into　the　connecting　interfaces　based　on　optimal　configuration　principles.　The　optimal　configuration　of　the　passive　joints　can　effectively　reduce　the　gravitational　influences　of　the　exoskeleton　device　and　the　upper　extremities.　A　compatible　exoskeleton　(Co-Exos)　with　11　degrees　of　freedom　was　developed　while　retaining　a　compact　volume.　A　new　approach　is　presented　to　compensate　vertical　GH　movements.　The　theoretical　displacements　of　translational　joints　were　calculated　by　the　kinematic　model　of　the　shoulder　loop　Theta(s).　A　comparison　of　the　theoretical　and　measured　results　confirms　that　the　passive　joints　exhibited　good　human-machine　compatibility　for　GH　movements.　The　hysteresis　phenomenon　of　translational　joints　appeared　in　all　experiments　due　to　the　elasticoplasticity　of　the　upper　arm　and　GH.　In　comparable　experiments,　the　effective　torque　of　the　second　active　joint　was　reduced　by　an　average　of　41.3%　when　passive　joints　were　released.　The　wearable　comfort　of　Co-Exos　was　thus　improved　significantly.　(C)　2018　Elsevier　B.V.　All　rights　reserved.