A trust is a situation where the legal title and the beneficial ownership are split, and the holder of the legal title holds it "on trust" for the beneficiary. Normally the legal and beneficial interests are held by the same person (i.e. I am the legal owner and I am also the beneficial owner)
In your particular situation to establish a trust there would have to be a transfer or conveyance of the property to you (with the legal costs and stamp duty), and a declaration of trust, declaring that you hold the property on trust for your father. Then any income is received by you. However, the income would still really be your fathers, as you are only holding the property "on trust" for him - any money received would have to be applied for his benefit. This hardly gets you out of the situation you want to avoid, as this income would still have to be declared. It would also be assessed as taxable income for your father.
To do what you want, you'd be going down the avenue of a secret trust, and tbh it's bordering on welfare fraud, so I'd be reluctant to advise on that. Talk to a tax accountant and see if there's a legit way of achieving a similar result.