The article presents the design and modeling process of upper exoskeleton components intended for rehabilitation and professional training within an immersive virtual reality interaction system. The designed mechanism provides control over the motor activity of the upper limbs through four degrees of freedom, implemented using pneumatic actuators. Kinematic and dynamic modeling based on screw theory was conducted, enabling the description of the relationship between the rotation angles of the links, the forces exerted by the pneumatic cylinders, and the configuration of the output link. A dynamic model was developed, taking into account inertial and external loads, as well as algorithms for calculating the forces generated by the actuators. The exoskeleton design allows for the adjustment of parameters to accommodate individual user characteristics. The obtained results will be used in the prototyping of the upper exoskeleton and its further integration into the immersive virtual reality interaction system.