Nothing will display in the Dependency editor until you have checked 'Start Teaching' and move a body part. As soon as you move a body part it will show up in the dependencies list. 

Set the dial on the dependency editor to 0.00, bend the finger to get the bend dependency to show, then set the bend parameter to whatever value you need it to be when your master parameter dial is at 0. 

Then set the master parameter dial to 1.0, and set the bend parameter to the value you need it to be at when the master parameter dial is at 1.0. Press Stop Teaching, and test it. If done correctly, then dialing the master parameter back and forth between 0 and 1 should control the bend of the finger. 

Repeat the same process for each bend, twist and rotation you need the dial to control on each body part. 

There's also a graph editor at the bottom of the dependency editor to control the strength of the bend during the course of the dial being turned. But for just setting up grasping you shouldn't need to mess with that too much.

 

~Shane