For reproducing the manipulation of TCM remedial massage and meanwhile guaranteeing safety, a 4-DOF anthropomorphic robotic arm with integrated elastic joints is developed, and a passivity-based impedance control is used. Due to the series elasticity, integrated joints may minimize large forces which occur during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Human expert's fingertip force curve in the process of massage therapy is acquired in vivo by a dedicated measurement device. Then, three massage techniques, pressing, kneading and plucking, are implemented by the soft arm, respectively, on torso model in vitro and on human body in vivo. Experimental results show that the developed robotic arm can effectively replicates the TCM remedial massage techniques.