This doesn't fall into "free hand" sharpening, but I cannot recommend enough the clamp on guides offered by Razor Edge Systems. They have a large guide (I find it useful on 8" chefs knives) and the small guide, which is used for just about every other knife. You can use any stone you like....their warranty tho limits you to using their stones. Haven't tried their stones. I use their guides on diamond stones, Arkansas stones, waterstones, you name it.
Free hand sharpening has always come naturally to me, as I learned before memory, really, by my two grandfathers. I have a vague memory of sitting at Grandaddy's kitchen table watching him sharpen a file knife he made on an Arkansas stone. His method was to lay the blade FLAT on the stone and use circular motion on both sides! You could always tell if he sharpened a knife...it was convexed at the edge and had scratches on the blade bevel! Well, luckily I learned a few better sharpening methods than that one! I should say his knives were VERY sharp, but cosmetically challenged.
The Razor Edge Systems guides let you develop that muscle memory very well. The angle is set by the guide's placement on the knife. It is hard to get below 13° per side with the guides, depending on blade height you may or may not get a very low angle. I have never had a problem doing 15° per side with them, or higher, with any knife. If you want a guide to develop muscle memory for freehand sharpening, I think this is the answer. I have gotten to where my free hand skills may be lacking, as I really prefer the nice crisp shoulders and perfect edges you can get with it, especially on knives I make and sell.