To make the more rigid skeleton part, a wireframe modifier followed by a subsurf modifier gets a similar result, or you could look into the tissue tool addon: tissue by Alessandro Zomparelli
As for the inner squidgy part, not sure whether it needs to be a simulation, I’m thinking if you were to make a mesh based on that skeleton, either manually or maybe using a boolean, adding all the exposed faces to a vertex group, and then using either a displace modifier, or maybe something from animation nodes to push them outwards.