The most I can tell you is instead of focusing hard on understanding skeletons and the like and trying to draw from the inside out is keeping it
simple. View every person you draw as having a center line and every joint as a ball that can be rotated upon and build the body around that. It's almost the same as making a sculpture, building from the inside out. You can use a stick figure for that. Don't stress your sketches and don't get too heavy handed with them, they are supposed to be full of mistakes. Art is never a perfection, it is a practice, and no matter the artist or media.... we can ALL pick some flaw out of our artwork, but that's what makes it beautiful.
You're doing just fine!
I made a couple of tutorials that have been helpful to close friends of mine and I'll link them here. If you have any issues getting to the links, please let me know.
For the tutorial on faces, go
hereFor the tutorial on hands, go
here