This is similar to what you might get at the elbow or knee joints. Sone good skin weight adjustment would fix this fine but it is possible to fix this by using corrective blendshapes instead. I created a blend shape for the cylinder and the adjusted it at the bent position so that the mesh was not collapsing on itself.
I then set driven keys so that the rotation of the joint turned the blendshape on.
As i said before you can do this with skin weighting so why use this method? Because it can be used to create effects like muscle bulges and cloth wrinkles as well as correcting hard to weight areas.
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