I have an Epson printer.
This problem occurred after upgrading from 9.04  to 9.10, the printer worked 
fine before the upgrade.
I first tried the commands as described below, seen on another forum:

sudo chown -hR root /usr/lib/cups/filter
sudo chown -hR root /usr/lib/cups/backend
sudo chgrp -hR root /usr/lib/cups/filter
sudo chgrp -hR root /usr/lib/cups/backend

It did not work, the printer had the same error message.
I then deleted and re-installed the printer, which fixed the problem.

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Printing fails with 'cups-insecure-filter'
https://bugs.launchpad.net/bugs/436544
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