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Fully soft robots often suffer from structural fragility and delayed sensory processing, limiting their practical functionality. The musculoskeletal system combines the adaptability of soft materials with the durability of rigid\u2010body robots. It also leverages morphological computation, where the morphological structures contribute to information processing, for dynamic and adaptive behaviors. This study focuses on the pecking behaviors of birds, which enable precise haptic perception through the musculoskeletal system of their flexible necks. Physical reservoir computing is applied to flexible structures inspired by an ostrich neck to analyze the relationship between haptic perception and physical characteristics. Experiments with both a physical robot and simulations reveal that, with appropriate viscoelasticity, the flexible structure can discriminate object softness and retain that information through behavior. Drawing on these findings and anatomical insights from the ostrich neck, a haptic perception system is proposed that exhibits both separability and behavioral memory in flexible structures, enabling rapid learning and real\u2010time inference. 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