Open-access databases can facilitate data sharing among researchers and provide normative data for objective clinical assessment development, robotic design, and biomechanical modeling. However, most existing databases focus on gait, balance, and hand gestures without providing elbow and shoulder kinematics that are required in activities of daily living. Furthermore, the few existing upper limb datasets include small sample sizes without consistent data collection protocols, which hinder robotic engineers' ability to design robotic devices that accommodate the general population. To address the literature gap, an open-access upper limb kinematic database was proposed. Due to the impact of COVID-19 on human research, only data from 16 participants were collected. Clinical Relevance-This provides baseline kinematics for developing objective clinical assessments and rehabilitation robots.