The perception of food texture in humans heavily relies on the way of biting and the condition and arrangement of teeth. Consequently, changes in dentures or biting speed can create an illusion of different textures for the same food. Like-wise, in mastication robots, variations in control parameters and probe geometry can lead to differences in acquired data, resulting in texture misidentification. This study aims to bridge the gap in texture perception between humans and machines, and make their misperception of texture more similar. To achieve this, the possibility of replicating human texture perception by machines was investigated using a highly accurate texture discriminator called “Gel Biter”, which comprises multiple soft materials. The findings indicate that misperception due to variations in mastication speed leads to misdiscrimination with a tendency similar to that in humans. Additionally, it was discovered that different contact between the tooth-shaped probes can cause a completely different texture perception. The potential contributions to food development using human dental techniques and food texture illusion are also discussed.