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For drawing gestures, you, for one, ignore details and likeness of the figure itself. You are concerned with the movement/rhythm and action of the major parts of the body. ;head, neck, ribcage, spine, pelvis, legs, arms. These parts are what essentially create the 'gesture', after all. I recommend Glenn Vilppu for this. https://www.youtube.com/watch?v=aOtVUHgJqQk and then his manual: https://mega.nz/#!rMAWBBCI!B9YdQAmJCBAI3ddNaAIHvTPELgRis3iYSeb-I2dSUEQ
I recommend this book a lot, and it's for a reason. From my exposure to other beginning art students drawing the figure at my university, what I see firsthand is a lack of familiarity with form. And probably as well, the lack of exposure to figuredrawing instruction and art. Glen Vilppu is high-up there when it comes to famous figure-drawing instructors, so he's a good mention. It is not a mistake that he spent 2-3 chapters in his book on drawing basic forms in a book largely to do with figuredrawing. If you cannot draw and manipulate basic forms through space(the imaginary, 3-dimension of the page), comfortably, you are at a handicap when it comes to translating what's going on 3-dimensionally in a figure.
To use a metaphor, it's like seeing a red object in real life, but not knowing the word for it. What will come from that will be poor communication. The same thing applies with drawing. You might be able to tell someone, "Yeah, that figure is going back in space." But drawing is a different language, and if you don't know the language of form, your drawing will show that lack of knowledge.
The gesture lines are sort of like an imaginary wireframe that runs through the figure. So yes, you should be thinking from the inside first. The inside is, after all, where the action, and orientation of forms can be found.
For one, if you feel you are rushed, take more time for your gesture drawings(and if you aren't doing them, do them). Always try to stay calm when drawing, and do whatever possible to get that.
So to sum up, watch that Glenn Vilppu video, watch the Dorian Iten 'Accuracy' video, read some of Glen Vilppu's book, and post your thoughts, or anything you learned from the videos.
For proportion, I recommend Dorian Iten's guide to accuracy. It's very solid and worth your effort to follow. https://gumroad.com/dorianiten#