The longer meat is cooked, the more firm it becomes. The texture of the various degrees of doneness of meat are similar to the feel of the fleshy part of your palm below the thumb. Try this thumb and finger test the next time you cook a steak and see how accurate it is!
Thumb to index finger: Steak will be soft and squishy
Thumb to Middle Finger: Steak is firmer, gently yielding.
Thumb to Ring Finger: Steak will be firmer, less yielding.
Thumb to Pinky Finger: Steak will feel hard yet springy.