The tongue has a central role in the sensory experience of texture perception of food. Tongue mechanoreceptors have varied ranges of sensitivity, both in terms of amplitude and frequency of the mechanical stimuli to which they are exposed to. Understanding the behavior of these sensory receptors requires the development of innovative methods, with experimental approaches that integrate both the characteristics of the food and the complex properties of the tongue. In this work, a biomimetic device was composed with artificial tongues (polyvinyl alcohol cryogels) actuated by two translation stages to generate custom sequences of compressional and shearing motions against a rigid plate playing the role of the hard palate. The roughness of the tongues was designed to be reminiscent of the diversity of human tongue papillae height (20–140 µm). Newtonian aqueous solutions of glycerol (1–1400 mPa.s) were deposited on their surface and their frictional behavior was investigated during sequences of shearing motions against the palate. A multi-axes strain gauge sensor and a piezoelectric accelerometer were used to measure forces and vibrations between the tongue and the palate. In addition, non-destructive ultrasound (US) waves were propagated within the tongue with a pulse recurrence frequency of around 1 kHz, using a single-element sensor (5 MHz) positioned under the tongue. Signal processing methods were developed to characterize the evolution of the time of flight (ToF) of the echo corresponding to the reflections of US at tongue-palate interface. The low frequency component of ToF evolution (0–40Hz) was found to correlate both with the normal pressure exerted by the tongue on the palate, and with the thickness of the lubricating film at tongue-palate interface. At higher frequencies (>40 Hz), ToF fluctuations were correlated with vibrations induced by stick-slip phenomena between the tongue and palate, characteristic of the mixed lubrication regime. The study paves the way for the use of US methods (non-invasive and non-destructive) for the continuous monitoring of friction phenomena between the tongue and the palate. Implemented on such a biomimetic system, they make it possible to study the respective contributions of the properties of foods and of the physiological specificities of individuals on the biomechanical phenomena at the origin of texture perceptions.