The invention discloses a flexible joint controlled in a mixing mode. The flexible joint comprises a motor with a harmonic drive speed reducer, a tornsional spring, a rotating mechanism and a measurement mechanism, wherein the is connected with an output shaft of the harmonic drive speed reducer, the rotating mechanism is driven by the tornsional spring, and the measurement mechanism is used for measuring torque of the rotating mechanism and is formed by a motor coder and an absolute type angle sensor, wherein the motor coder is used for measuring a rotating angle of a rotating shaft of the motor, and the absolute type angle sensor is used for measuring a rotating angle of the rotating mechanism. The rotating angle of the tensional spring is obtained through the motor coder and the absolute type angle sensor, the moment of force is obtained by multiplying the torsion angle by an elastic coefficient of the tornsional spring, and the measurement mechanism is simple in structure and low in cost. A relative rotating angle of an inner ring and an outer ring is limited through a limit cable or a limit block, so that the torsional spring is protected, and reliability of the joint is improved.