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And "upper structure" voicing is a jazz chord voicing with a triad at the top. The triad is not based on the root of the chord, and is supported by some regular chord tones underneath. Pianists often play the triad with the right hand and two chord tones underneath it with the left hand. These translate very nicely to the Stick, where you can play the two chord tones AND a bass note with the left hand while playing the triad with the right.
Here are some of the more common upper structure voicing types:
These are good to accompany a soloist, or melody notes can be added above to create a solo Stick part.
is a really good page about upper structure voicings.