Gesture drawings are more about capturing the actions of the figure rather than the proportions. This will help you to work looser and faster. Use fluid lines working with your whole arm rather than just your wrist. A great technique for creating great gesture drawing is not to take your pencil off the paper. As for drawing the torso, you can work loosly with that it doesn't have to be accurate. Gesture drawings can be as simple as a group of fluid lines or a stick figure. As mentioned before its about capturing the movement the "gesture" not the proportion. I hope this helps.
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