This paper proposes a novel texture sensing method for nursing-care gel by using an artificial mastication system, in which not only mechanical characteristics but also geometrical ones are objectively and quantitatively evaluated. When human masticates gel food, she or he perceives the changes of the shape and contact force simultaneously. Based on the impressions, they evaluate the texture. For reproducing such a procedure, the pressure distribution of gel is measured in the simple artificial mastication, and the information associated to both the geometrical and mechanical characteristics is simultaneously acquired. The relationship between the value of sensory evaluation (i.e. impression human perceives), and the pressure distribution data is numerically modeled by applying the image texture analysis. Experimental results show that the proposed method succeeds in estimating the values of sensory evaluation of nine kinds of gel with the coefficient of determination greater than 0.93.