I wish I was closer so I could teach you. There is actually a way to force your hand to make the lines as ever you want them.
-Draw in Art Rage, and use normal pencil tool (set it to 80% line correction to remove the shaking) to draw a sketch first. The outlines will come later (they give you a chance to improve the lines of the sketch greatly).
-Draw the lines multiple times faster if it's suppose to be a long but slightly curved line (like the upper muscles of legs), use ''undo'' when you miss and repeat until you get it right. Make use of zooming in and out, and rotating the image, so that it always fits the easiest movement of your hand.
-With detaily things like ears, fists, eyes, zoom in a lot and put your hand firmly on the tablet. These are drawn slowly, by literally forcing your hand to do what you want. (set the line correction on 20-30% for this)
-Spend more then two hours on the sketch and about half of the time on the outlines. The colouring can take minutes or days and be great or sucky in either case. Can't help you with that. I use the ''selection'' tool and then colour the selected area with ease.
-Use layers to draw the outlines over the sketch, then remove the sketch's layer when finished. Then colour on the layer beneath the outlines so it doesn't cover them.
I hope it helps 😍