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ZRE (Zaveral Racing Equipment) paddles are indeed nice as well as lightweight, but will set you back $200 or more apiece.
Figure on spending a minimum of $50-60 per each for a decent "entry level" paddle. Makers of quality paddles in the $60-120 range include Grey Owl, Bending Branches, Sawyer, and FoxWorx.
Bent shaft paddles are a bit more efficient for paddling from a sitting position, but straight shaft paddles can be used by seated paddlers, obviously.
A number of the paddle makers websites have sizing info. Although paddles are generally listed by overall length, in determining the proper length paddle for your use, it is the shaft length that counts. Shaft length depends on a number of factors including your torso length, the seat height in the canoe (if sitting), the draft of the canoe (which varies a bit with load), and personal preference. Bent shaft paddles are typically several inches shorter than a straight shaft paddle used by the same boater.
I am about your height (maybe an inch taller) but again it is torso height that is important. For what it is worth, I use straight shaft paddles anywhere from 54"-58" in length and bent shaft paddles anywhere from 48"-53" in length.
Have bought all my canoe paddles for several years on E-bay. I picked up a new, lightweight $200 paddle for $51 last time I answered this question on P.net last summer.
Bent shafts are not that hard to use, even for maneuvering on rivers. But a nice Beavertail or Ottertail can feel good in the hands too. I've found what feels good to me may not to the next person. Wenonah's outfitter carbon paddle is really nice as are Zaverals. Also Mitchell's and Bending Branches makes some decent paddles that won't break the bank account. Here's a few to peruse over:
Has a very paddle specific sizing chart.
While the foxworx chart is one of many different commonly used measurement methods, the optimum paddle length can depend on a lot more than that one measurement. Height above water line is what counts, and even that is not necessarily proportional depending on paddling style (racing or recreational), experience, favorite stroke, height of mounted seat, canoe load, and probably many other factors.
When I train for racing as bowman in one particular expedition voyageur canoe, I like to use a 54 inch bent shaft. In the stern, where the seat is higher and different strokes are called for, a 56 inch is better. Load the canoe with gear for multi-day races and I'll go with 52/54. In a different smaller voyageur canoe we use for training or short distance races, an inch or two shorter paddle is better.
In a larger tandem canoe I'll opt for a 53 or 52 inch paddle, 51 inch in a smaller tandem. In a Rapidfire with high seat I single blade with either a 50, 49, or 48 inch, depending on load and water conditions.