A new type of flexible pneumatic spacing bending joint using rubber tube actuator and elastic elements is developed. It had three degrees of freedom (3-DoF) which could elongate in axial and bend in any direction in space. The characteristics of working pressure signal inside joint were collected by gas pressure sensor and data collector. The dynamic experiments on space bending flexible joint were carried out using high speed Charge-coupled Device (CCD) camera. The dynamics properties of flexible joint are analyzed under different excitation signals, which provides a reference for building the model of control of flexible joint.