Soft robotic arm actuated with pneumatic artificial muscles (PAMs) exhibits various interesting properties (static or dynamic) in contrast to conventional robots with electric motors. In addition to nonlinear relationship between various variables, PAMs are known for the hysteresis inevitably associated with their specific construction. In order to be able to develop a model useful for designing the effective control, it is necessary to analyse the relevant features of its performance. In particular, we concentrate on analysing certain aspects of hysteretic behaviour of two-DOF planar arm which uses two pairs of PAMs so that the results can be used e.g. for compensation of hysteresis using its inverse model.