PIP claims

Does anyone know if a PIP claim could be submitted on a typed out form and attached to the clerical form that has been sent to the claimant from DWP? I help people with Learning Disability and cover an area too large to complete forms face to face. With PIP forms not being available to complete online I am trying to think of ways that I can fill the form out with the person I am supporting when I can’t actually meet them. Other than send the form endlessly through the post and risk it getting lost.

Thanks I thought that would be the case, just wanted to check with others.