The rapid evolution of the smart industry has propelled significant advancements in both the realms of flexible electronics and robotics. The fusion of flexible sensing with intelligent robots bestows upon them the capability of tactile sensing, a critical enhancement that elevates their intelligence, digitalization, and practical applicability. We have triumphantly developed an innovative poly(vinyl chloride)/multi-walled carbon nanotubes polymer gel (PVC/MWCNTs polymer gel, PMPG), renowned for its exceptional elasticity and sensitivity. This high-performing sensing gel was crafted through a physical cross-linking method, utilizing poly(vinyl chloride) as the base matrix and multi-walled carbon nanotubes as the reinforcing fillers. Optimally, at a PVC:DBA = 1:5 (1 wt% of MWCNTs), PMPG demonstrates a remarkable response time of merely 172 ms, coupled with the capacity for sustained, continuous measurements. The material's stability is commendable, enduring up to 2,500 successive measurements without degradation. By integrating PMPG with machine learning algorithms, the soft gripper is endowed with enhanced tactile sensing and responsive feedback capabilities, heralding a new era for soft robotics across diverse settings.