The technique is aimed at deconstructing common foods such as chicken, carrots and fruits into a smooth form that can be eaten without chewing and then reconstructed to give the appearance of a conventional meal.
The research, funded by the European Union (EU), could help address one of the root causes of malnutrition in the elderly - that people lose their love of food, scientists say.
The idea builds on food products that are already being made by the German company Biozoon, which does a similar thing but uses silicon moulds to shape the food rather than printing it, 'The Times' reported.
For instance, a carrot would be cooked, pureed and strained, mixed with the solidifying agent and then printed layer by layer into the shape of a sliced carrot.
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"The look and taste of the end product matches the original food item. But the texture is soft and gel-like. It dissolves easily in the mouth so that it is safe to eat for people with mastication or swallowing problems," Kuck said.
He added that there had been a positive reception to Biozoon's smoothfood products, which have been adopted in more than 1,000 care homes in Germany.