These are the various exercises I have found useful over the years for warming up and improving my dexterity in the process.
Form studies help you train to place things in arbitrary orientations in three-dimensional spaces.
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A Primer On Drawing From Memory Exercises
I found the drawing from memory exercises really are the Swiss army knife of drawing exercises. Read more about it in this short explainer.
Fun activities that exercise your creativity.
Various Habit-Related Tips
Some tips to help you get started and keep drawing.
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