Falchion:
Example sketches of the hand?
There IS no example sketch for the hand: that surely is the whole purpose of the project, to learn how to do that.
As to where "the Arduino and the servos come in".... well your p003 link very glibly says:
Once you have your robot hand, you will need to add small servo motors......... To control the servos, you will need a hobbyist microprocessor board
By its own admission, p003 is an abbreviated project idea, and list as a pre-requisite:
Once the hand is assembled, adding the servo motors, connecting the microprocessor, and writing the code for the microprocessor will require familiarity with a hobbyist microprocessor board (like ones using ArduinoTM, PIC®, or similar). The student should be comfortable with connecting, programming, and testing projects on these boards.