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This paper presents the results of a study of polyurethane rigid (PUR) elastomers in terms of the constitutive law identification, and analyses the effect of polyurethane elastomers’ hardness on fatigue properties. The research objects were PUR materials based on 4,4′-diphenylmethane diisocyanate (MDI) with the hardness of 80 ShA and 90 ShA, typically used in various industrial applications. Based on the performed experimental campaign under static and cyclic loading, the constitutive model proposed by Ogden is most appropriate. In addition, a hybrid numerical–experimental analysis (using FEM-DIC) of diabolo specimens’ behaviour is carried out in fatigue tests. Based on the performed fatigue test, it is worth noting that the energy approach describes the fatigue process synonymously compared to the displacement or strain approach. Finally, simple fatigue characteristics were analyzed and statistically validated for both PUR material configurations.