Yes, a potentiometer is a good solution for something which only rotates a finite amount (encoders are needed for things that rotate continuously). The resistance doesn't matter much for what you're doing. Look instead at the number of turns required to go through the whole range.
Also, servos contain potentiometers. The servo's internal circuit uses these to measure an angle which is compared to the command signal. It's usually possible to open up a servo and solder some extra wires onto the potentiometer which you can use for reading out angles.
That said, I don't think that servos are a good idea for force feedback. They're intended for position control, which is very different from force control. It's also not a good idea to be constantly overpowering a servo, which is effectively what you'd need to do.
Use an ordinary DC motor with potentiometer feedback instead. This is probably easiest with a servo which has had its control electronics and mechanical stops removed. You then get the potentiometer, motor, and a nice gearset in one compact package.