The invention discloses a bent pneumatic artificial muscle test system, which comprises a transmission device, a detection device, a control module and a pneumatic module. During the test process, through controlling an electric proportional valve 11, a control acquisition board 21 adjusts the inner air pressure value of a pneumatic artificial muscle 23, and rotation of a rotary table is controlled to adjust the acting force between a pulling force sensor 6 and an active supporting board 7. The control acquisition board 21 automatically controls the whole experiment process, experiment data are transmitted back to a computer 22 for being displayed in real time. The bending angle of the pneumatic artificial muscle 23 is detected through a rotary encoder 8 arranged at the connection place between a fixed supporting board 15 and the active supporting board 7. The bending moment provided by the pneumatic artificial muscle 23 is measured through the pulling force sensor 6 at the opposite side of the active supporting board 7, and the product between the force and the fixed force arm is used to obtain the moment. The pneumatic artificial muscle 23 which realizes bent movement or rotary movement under air pressure can be tested, which comprises static characteristic test and dynamic characteristic test.