In the very first days of personal computing (about 1979-1981) they made a Selectric interface. It was a solenoid panel that fit over the keyboard and tapped out your print. Remember, dot matrix printers were ugly and didn't even have descenders on the lowercase letters. Qume printers were VERY expensive in 1980's dollars, and the poor guy like me didn't have hundreds of dollars to buy one anyway something like 40 of them.

If you have time to waste, there are some articles and a thread on the interfaces here: https://www.google.com/search?q=IBM+Selectric+keyboard+interface&ie=utf-8&oe=utf-8