The flexible joint was made with two different materials of silicone tube and elastic skeleton, and the static experiment was performed on it. The bending angle and clamping force under the same air pressure were obtained, and the deformation model of the flexible joint was established, and the air pressure was obtained. Deformation characteristics under. The research results show that the smaller the Shore hardness of the silicone rubber tube is, the smaller the shear elastic modulus and the elastic modulus, and the better the flexibility and mechanical properties of the flexible joint of the silicone tube. This research lays the foundation for further research on the application of elastic silicone tube in pneumatic manual actuator.