You will have a much more enjoyable leisure, power, Nordic or race walk if you maintain relaxed fingers & hands. Athletes that learn how to relax and conserve energy perform better than those that are tense.
Have you ever watched the first few minutes of an important basketball game. Some players are tense and others are loose. Some get caught up in the moment and have trouble making a basket. Often they play ‘too fast’. The more relaxed players excel and conserve energy. It is similar in walking. Keep those fingers and hands relaxed and it will also help relax your arms and shoulder.