Not so much - here's part of an interview with Yasuo Kobayashi (the original is in Japanese only):
Hold on. So Kobayashi knew what Ueshiba was thinking? That's quite a skill.
Now let's investigate this further.1) Ueshiba didn't like it and said what's the point 2) But it was good for training. 3) So it was added anyway. Mmmmmm. Sounds like another who didn't quite understand something. (or maybe a mistranslation)
Plus Kokyu was emphasized by Ueshiba and as time progressed more and more so. Let's not confuse this with technique though and set kokyunage.
Lastly and more importantly I am giving an answer to Chris from my observations and I see the priciples of Kokyu at play. So who said what when means nothing to me. However if others see other things or principles in play then that is also interesting.