Yes you can download the form and fill it out on a computer, print it off and send it with supporting documents.
Make sure that each page has your full name and NIN at the top and that they are numbered, we recommend "page X of Y" so that it is easy to see if pages are missing.
Attach the pages to the back of the form using a staple or make a hole in the top left corner and use a treasury tag, string or ribbon to the form. The pages need to be easily detached so that they can be scanned by the DWP.
One of the advantages of using a computer is that it is easier to read and you do not have to struggle reading someone hand writing even if it is in block capitals.
Gary
Nothing on this board constitutes legal advice - always consult a professional about specific problems
