Due　to　the　complex　coupled　motion　of　the　shoulder　mechanism,　the　design　of　the　guiding　movement　rules　of　rehabilitation　robots　generally　lacks　specific　motion　coupling　information　between　the　glenohumeral　(GH)　joint　center　and　humeral　elevation　angle.　This　study　focuses　on　establishing　a　kinematic　model　of　the　shoulder　complex　obtained　from　a　wearable　detection　system,　which　can　describe　the　specific　motion　coupling　relationship　between　the　GH　joint　center　displacement　variable　quantity　relative　to　the　thorax　coordinate　system　and　the　humeral　elevation　angle.　A　kinematic　model,　which　is　a　generalized　GH　joint　with　a　floating　center,　was　proposed　to　describe　the　coupling　motion.　Twelve　healthy　subjects　wearing　the　designed　detection　system　performed　a　right-arm　elevation　in　the　sagittal　and　coronal　planes　respectively,　and　the　motion　information　of　the　GH　joint　during　humeral　elevation　in　the　sagittal　and　coronal　planes　was　detected　and　quantized,　with　the　analytical　formulas　acquired　based　on　the　experimental　data.　The　differences　in　GH　joint　motion　during　humeral　elevation　in　the　sagittal　and　coronal　planes　were　also　evaluated　respectively,　which　also　verified　the　effectiveness　of　the　proposed　kinematic　model.