I think I've found my preferred medium when it comes to figure drawing. Markers, grayscale markers. Using just feels wonderful because every line, big or small, stays permanent on that page. It really slows me down and take time to put where lines and think about the figure.
2 - 5 minutes
Also not just great for long poses put perfect for short poses such as 30 sec to 1 min poses just throwing the marks on there quickly is great for capturing the poses and their energy.