<p>The human shoulder joint is a complex structure capable of bearing enormous loads and performing intricate movements in three-dimensional space. Consequently, it is imperative for existing exoskeletons to be compatible with and possess highly synchronous motion profiles that are similar to those of a human shoulder joint. Due to the movement of the humeral head within the glenohumeral joint, an exoskeleton mechanism aligning with the shoulder joint cannot be constructed as a mutually perpendicular actuated system. This misalignment could result in an axis mismatch between the human shoulder joint and the exoskeleton, potentially causing interaction forces and joint injuries. This review article explores the significance of the humeral head translation from the glenoid fossa of the scapula during humerus elevation in the human shoulder joint and its impact on the design of upper limb exoskeletons. The effect of various design elements on the stability of the glenohumeral joint in an upper limb wearable device is discussed, underscoring the need to correct this misalignment during the design phase. This paper also compares the work done by different authors regarding the experimental calculation of the range and directional pattern of humeral head translation based on the range of elevation. It further compares existing exoskeletons based on their range of motion, actuation, portability, mechanism, transmission, and control schema, all of which contribute to the glenohumeral stability of the user.</p>