As above strong bends over long times will be bad, either stressing or compressing the silicone / TPE.
I have 3 DS girls (Silicone) who spend months together on a bed. They are each holding a teddy or doll to their chests, and each has a leg bent up a little for a bit of life like positioning, they stay like that for prolonged periods of time with no issues.
Pics says a thousand words...
Gentle bends at the joint will be fine.
Also
cos I havent said it yet.
K