Here is a gist that shows how to read the heart rate sensor.
The meat of it is:
SensorManager mSensorManager = ((SensorManager)getSystemService(SENSOR_SERVICE));
Sensor mHeartRateSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_HEART_RATE);
Sensor mStepCountSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_STEP_COUNTER);
Sensor mStepDetectSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_STEP_DETECTOR);
mSensorManager.registerListener(this, mHeartRateSensor, SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, mStepCountSensor, SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, mStepDetectSensor, SensorManager.SENSOR_DELAY_NORMAL);
You will also need the following entry in the AndroidManifest.xml
<uses-permission android:name="android.permission.BODY_SENSORS" />