The field of soft robots is emerging rapidly in various applications, including rehabilitation and assistive devices, due to their compliance and low weight compared to traditional robots. The flow rate of the control valves has a direct impact on the dynamics of the soft robots. In this research paper, a 3D-printed pneumatic pinch valve is developed to investigate the flow rate characteristics of pinch valves and their effect on controlling pneumatic soft robots. The 3D-printed valve offers various configurations with different flow rate limitations, ranging from 8 to 50 SLPM/bar, with the 1.0 to 2.0 mm configuration providing a distinct flow rate at an operating pressure of 1 bar. The static and dynamic characteristics of the valve configurations are investigated. An artificial muscle is used to validate the valve through a pressure control experiment, and the results demonstrate the effect of using different configurations on the muscle’s dynamic response.