The resistive bending sensors . . . basically hook them up to op-amps to amplify the voltage, then send the result to the ADC of your microcontroller. You can treat them just like potentiometers, but with only a small resistance range. Also, expect to have problems with hysteresis (google it).
ok, but what type of servo if any should i use for the fingers?
the one with enough torque (subjective questions get subjective answers)