The contact dynamics during massage manipulation by compliant robotic arm is described by using port-Hamiltonian modeling approach, which is a powerful tool for modeling complex dynamical systems due to the power port term. The nonlinear Hunt-Crossley model is used to replace the linear KelvinVoigt model in order to capture the behavior of soft tissues. Then, the impedance controller in [1], [2] is reformulated in full-state feedback form, and coupled stability is reassured form the energetic viewpoint. Some experiments are given to verify coupled stability during massage manipulation by compliant robotic arm.