All along food oral processing, the tongue continuously evaluates the mechanical and structural properties of foods, all by guiding them towards the different organs involved in the formation of the bolus. The tongue thus steers the oral strategy, adapting to food type, individual preferences, and physiological constraints, playing an important role in sensory experience and swallowing safety. In the present study, sensory analysis was coupled with ultrasound (US) imaging to better understand the links between tongue motions and texture perceptions. Six commercially available semi-liquid foods (chocolate desserts) were selected for their diverse textures (including mousses, gels and creams). Sensory profile and temporal dominance of sensations were investigated with a trained panel of 16 volunteers. The mechanical interactions between food and an artificial tongue and palate were characterized on a biomimetic test bench embedding multi-axes force sensors, an accelerometer, and a linear US imaging probe. Feasibility US imaging measurements were performed on 10 volunteers, using a convex US probe positioned under the chin. Highly contrasting mechanical and sensory properties could be confirmed across the different food products. Image processing methods were developed on in vitro US imaging datasets to track the evolution of the dorsal surface of the artificial tongue (interface tracking algorithm) and characterize the deformation fields within the artificial tongue (particle image velocimetry). Tongue movement profiles were linked to food rigidity, while shear velocity fields in the bulk of the tongue correlated with friction and adhesion phenomena between the tongue and the palate. High inter-individual variability was reported in the morphology and contrast level of the US images from in vivo experiments. Even though the implementation of image analysis processing methods was challenging, the feasibility of tracking the dorsal surface of the tongue has been demonstrated. The type and number of tongue movements as well as the duration of the oral processing before food swallowing were characterized. The results underscore the potential of US imaging for monitoring and characterizing tongue biomechanics during oral processing, providing valuable insights into the diverse mechanical responses of different food products and their impact on sensory experiences.