No i havent, if it was from a lifestyle problem or from a minor injury (which is probably the case), are there any measures i can take to regain sensation?
I wouldn't try anything yourself. I'd try to find the cause of it, and figure out what part of the penis is actually injured - is it nerves, damaged veins, etc.? Let a doctor figure this out for you.
I don't know if it's from something sexual, and that's why you seem hesitant to see a doctor, but I promise you that whatever it is, your doctor has heard "worse". Please let a doctor evaluate this and don't try to fix it yourself.