Cadaveric joint simulators are commonly used to explore native and pathological joint function as well as to test medical devices. Recently, robotic manipulators have been proposed as a new gold standard for in vitro biomechanical testing as they offer higher possibilities than Universal Testing Machines (UTM) in terms of Degrees of Freedom (DOF). However, current protocols remain conducted in extra-corporal conditions by fixing one segment of a diarthrodial joint while mobilizing the other segment. Moreover, induced motions are commonly not specimen-specific and do not respect related joint kinematic constraints and physiologic boundaries. In this study, using an industrial robotic manipulator, an intra-corporal condition procedure was defined. This procedure allows 1) the analysis of the shoulder girdle full kinematic chain, 2) the replication of specimen-specific humerus motions initially induced by an operator. On the 10 shoulders tested, the robotic manipulator was able to perform requested end-effector motions with a reliability of 0.28 ± 0.57 mm and 0.15 ± 0.25°, and fidelity of 0.27 ± 0.56 mm and 0.22 ± 0.28°. This procedure will be used in the future to explore joint function as well as to test medical devices, on the shoulder girdle and potentially other joints.