Save your model design in separate STL files according to their different parts as they can be printed in different colours later. Label each part with its relevant shore value, this will help you later easily determine which shore values received the highest score in your evaluation criteria tests. Design your model in such a manner to enable the mounting of flexible parts on your full assembly of rigid and flexible parts. You can then print up to nine different materials in one build process and assemble each part on the model for evaluation.
Lastly, to avoid disengagements, design the model so the rigid material extrudes as a thin core into the flexible part, creating a connection that can withstand repeated flexing and bending.