The advances in current technologies and the application of methodologies for designing rehabilitation exoskeletons that guarantee an excellent prototype to test have benefited other researchers in learning how to develop new rehabilitation projects more efficiently by taking this research as a reference. Therefore, this article aims to compile a considerable amount of research articles on the matrix to provide information to the researcher on developing shoulder exoskeleton. Several academic search engines were used to ensure the formality of the resulting articles during the development of this article. The information considered in the matrix was the classification of the exoskeletons, which indicates whether the mechanism is passive, active, or works in both directions (hybrid). Also, the models consider from 1 to 14 degrees of freedom (DoF), sensors used, and rehabilitation movements allowed by the exoskeleton. In summary, it is concluded that the creation of upper limb exoskeletons requires a great deal of development time to suppress risks in patients and improve the rehabilitation and support features they can provide.