Texture is an important evaluation item for foods. Food, being heterogeneous, changes texture dynamically during oral processing. The physical properties of foods are perceived as textures owing to the various receptors in the oral cavity. Therefore, methods to evaluate the stress distribution in solid foods during compression / biting and the flow characteristics of liquid foods using sheet sensors with many pressure-sensing points were designed. Artificial tongues were introduced to evaluate soft foods that were easily broken between the tongue and hard palate, such as commercially-available nursing foods and soft hydrocolloid-gels as models of care foods. Compression tests were conducted using a soft machine with an artificial tongue. As the artificial tongue deformed and surrounded the food materials, foods with high fracture deformation ratios during the conventional test using a hard machine were evaluated without being subjected to fracture by the soft machine. These results suggest that the fracture deformation of foods is an important factor in food destruction during compression between the tongue and hard palate. The presented methods are suitable for a variety of application such as the texture evaluation of heterogeneous foods, development of processed foods composed of various ingredients, and universal design of food utensils.