rub‧ber‧y /ˈrʌbəri/ adjective

1. looking or feeling like rubber:
rubbery eggs
rubbery lips

2. if your legs or knees are rubbery, they feel weak or unsteady

[TahlilGaran] Dictionary of Contemporary English ▲

hard difficult to press down, break, or cut, and not at all soft:
I fell onto the hard stone floor.
The clay gets harder as it dries.
firm not completely hard, but not easy to press or bend – used especially when this seems a good thing:
I like to sleep on a firm mattress.
exercises to make your stomach muscles nice and firm
The pears were firm and juicy.
stiff difficult to bend and not changing shape:
a piece of stiff cardboard
The collar of his shirt felt stiff and uncomfortable.
solid made of a thick hard material and not hollow:
a solid oak door
The floor felt strong and solid beneath her feet.
rigid /ˈrɪdʒəd, ˈrɪdʒɪd/ having a structure that is made of a material that is difficult or impossible to bend:
The tent is supported by a rigid frame.
Carry sandwiches in a rigid container.
crisp/crispy used about food that is pleasantly hard, so that it makes a noise when you bite it – often used about things that have been cooked in thin slices until they are brown:
Bake the cookies until they are crisp and golden.
crispy bacon
crunchy food that is crunchy makes a noise when you bite on it – often used about things that are fresh, for example fruit, vegetables, and nuts:
a crunchy breakfast cereal
The carrots were still nice and crunchy.
a crunchy salad
crunchy peanut butter
tough meat that is tough is too hard and is difficult to cut or eat:
The meat was tough and flavourless.
rubbery too hard and bending like rubber rather than breaking – used especially about meat:
The chicken was all rubbery.

[TahlilGaran] English Thesaurus ▲