This is one of the best books I've found on drawing figures. Take a look inside with this video. I think it has so many practical tips, loads of information about anatomy, and so many drawings in it that you can practice from that it makes it a worthwhile investment. I think it is a more instructional book than the cult favorite, Drawing the Head and Hands by Andrew Loomis.

I have a less expensive solution for smudging than using tortillons that you buy at the art supply store: cotton swabs! This brand is very compacted and dense, so you can really smudge detailed areas of your drawings. At only $6 for 490 of them, you really can't beat the price!