Upper　limb　rehabilitation　exoskeletons　are　critical　equipments　for　stroke　patients　with　motor　function　disorders.　According　to　the　floating　characteristic　of　human　gleno-humeral　(GH)　joint　center,　the　configuration　synthesis　for　the　four-degrees　of　freedom　(4-DOFs)　self-aligning　exoskeleton　mechanisms　(SAEMs)　is　addressed.　Based　on　the　configuration　priorities　of　SAEMs,　a　novel　4-DOFs　SAEM　is　proposed.　While　the　exoskeleton　is　connected　to　the　upper　limb,　a　human-exoskeleton　closed　chain　with　two　loops　is　formed.　Subsequently,　the　kinematic　equations　of　the　human-exoskeleton　closed　chain　are　established　and　a　position　solution　method　is　presented.　To　evaluate　the　kinematic　performance　of　the　SAEM,　the　movements　of　the　upper　limb　in　activities　of　daily　living　(ADL)　are　quantified　experimentally,　on　which　the　joint　angle　trajectories　are　generated.　Finally,　kinematic　characteristics　of　the　SAEM　in　ADL　are　investigated.　Results　of　the　study　indicate　that　the　SAEM　is　suitable　for　the　upper　limb　rehabilitation　and　can　be　used　as　primary　design　parameters　for　the　proposed　SAEM.　(C)　2019　Elsevier　Ltd.　All　rights　reserved.