I'll just throw some random musician thoughts out there. This is musician stuff, that has helped with my dancing. Mainly to do with ear training.
1. My favorite story about ear training comes from a jazz teacher (Hal Galper) who asked his students "Who here feels like you can't play the music the way you hear it in your head?" Of course, all the students raised their hand. And the teacher replied "You are all wrong. You play the music EXACTLY the way you hear it in your head." A very interesting thing to think about when I see dancers flailing about on the floor - or moving extremely well,
2. His follow up story comes from Dizzy Gillespie, who was asked how he played the way he did. Dizzy replied "People think this is the way I hear the music in my head - do bop di bop di di doo bop bop doop, but what I actually hear in my head is DO! BOP! DI! BOP! DI! DI! DOO! BOP! BOP! DOOP!" Just something to think about in terms of how we actually hear music. I'll just add that if you are dancing to a song and shout he song (in your head) or vice versa sing it in a whisper (in you head) - you will notice a difference in the way that your body "interprets" the song. In other words, it's not just the song that tells your body how to move, it's also the type of energy and imagination that you add to the song (in your head). Of course I can't guarantee it works for everyone, but it works for me, both when I'm dancing and playing the piano.
In music, you generally start training your rhythm by practicing duplets, triplets and quadruplets, until your ear just hears the sound of it without having to think about it. In dance I've had the exact same experience doing walking exercises ad nauseum to those same base rhythms (walk, triple step etc). The trick with dancers is to remind them that they're not just training the body, they are also training the Ear at the exact same time. Dancers should be able recognize those basic rhythms by ear so they can respond physically. For Afro-Cuban, try to break down large rhythms into smaller ones, so you can play with those as well.
I'll just throw one more thing at you that might be useful for dancers.
Body percussion warmups! Notice he doesn't use anything more complicated than the basic duplets, triplets and quadruplets, just in different orders and timing.