The goal of this test was to ensure that the emergency stop would immediately stop the motors. This was performed during testing when the system was in the all assistance mode. The motors were running at full speed when the emergency stop button was pressed. The motors immediately stopped when the button was pressed and put the system into a Fault mode where nothing could be done until the button was un-pressed, confirming that the E-stop does work how it was intended. When the button was un-pressed, the toggle switch had to be switched back into the waiting state before the user could run the motors again in either all assistance or effort sensing mode.