I know you might have already gotten your question answered, but, I wanna throw in my two cents too ;b
Personally, I imagine (or in this case, to show what I mean, draw) the basic shapes of the hand or foot, and consider how the object actually looks.
For example, for a foot, you have the toe, or "ball" of the foot, and then the heel and ankle at the back. Consider that with toes, they all natually curl under slightly, except the big toe. And when drawing feet, I make sure that unless the character has a really good reason for being unnaturally flat-footed, that the toe/ball of the foot is on a slightly higher or lower level than the heel. I don't know if that's technically correct, but I do it mainly for the aesthetic.
For hands, it's a bit harder to explain, since I just draw fingers and fix them as I go, but I draw the basic hand shape, and then the ball of the thumb. An important thing to remember when drawing hands is how fingers bend, naturally and around objects, and also the opposable thumb thing (meaning it can fold inward toward the hand, or outward). Also, remember joint placement, and that the thumb has three joints just like that of fingers, it just starts at the wrist joint instead of at the end of a bone.
My best suggestion though, that I received from another artist, was to look at how things look and work in real life. Experience, and physical speculation are the best ways of learning about how to draw things, IMO. Also, sometimes, if I want to learn more in depth how a body part works, or what it does internally that affects the extenal appearance, I feel the flesh or bone with my hands, and move it in the way I want to draw it, or just speculate the extent of movement of a joint or muscle while moving it.
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