I think Steve Huston's Figure Drawing For Artists a great book for gesture. It does NOT teach you the details of anatomy or rendering, but gives you a good practical understanding of gesture and structure on figure drawing
Also check other people's reviews about it, read the free sample in amazon, and see if it matches what you're looking for.
P.S. Some friends of mine also deem Mike Mattesi's Force books very good on teaching gesture, but I did not read them myself, so I can't give a proper opinion about them.