I'll say some of the main things.
1. Gesture its like a flow the shape doesn't matter find what the body is doing and not how the body looks
2. Try limiting yourself to a fixed number of lines. so as to have less shorter lines and more longer lines which will help.
3. Exaggerate it. when you go to figure drawing the drawing will become more stiff. so, to balance that the gesture drawing must be exaggerated. Otherwise the drawing would lose it's life.
