diff --git a/usb/transfer_stream.go b/usb/transfer_stream.go
index 4d5d882..8c79c5e 100644
--- a/usb/transfer_stream.go
+++ b/usb/transfer_stream.go
@@ -31,20 +31,25 @@ type stream struct {
 	current transferIntf
 	// total/used are the number of all/used bytes in the current transfer.
 	total, used int
-	// err is the first error encountered, returned to the user as soon
-	// as all remaining data was read.
-	err error
+	// delayedErr is the delayed error, returned to the user after all
+	// remaining data was read.
+	delayedErr error
 }
 
-func (s *stream) cleanup() {
-	close(s.transfers)
-	for t := range s.transfers {
-		t.cancel()
-		t.wait()
-		t.free()
+func (s *stream) setDelayedErr(err error) {
+	if s.delayedErr == nil {
+		s.delayedErr = err
+		close(s.transfers)
 	}
 }
 
+// ReadStream is a buffer that tries to prefetch data from the IN endpoint,
+// reducing the latency between subsequent Read()s.
+// ReadStream keeps prefetching data until Close() is called or until
+// an error is encountered. After Close(), the buffer might still have
+// data left from transfers that were initiated before Close. Read()ing
+// from the ReadStream will keep returning available data. When no more
+// data is left, io.EOF is returned.
 type ReadStream struct {
 	s *stream
 }
@@ -56,20 +61,27 @@ type ReadStream struct {
 // return io.ErrClosedPipe.
 func (r ReadStream) Read(p []byte) (int, error) {
 	s := r.s
+	if s.transfers == nil {
+		return 0, io.ErrClosedPipe
+	}
 	if s.current == nil {
 		t, ok := <-s.transfers
 		if !ok {
 			// no more transfers in flight
-			retErr := io.ErrClosedPipe
-			if s.err != nil {
-				retErr = s.err
-				s.err = nil
-			}
-			return 0, retErr
+			s.transfers = nil
+			return 0, s.delayedErr
 		}
 		n, err := t.wait()
 		if err != nil {
-			s.err = err
+			// wait error aborts immediately, all remaining data is invalid.
+			t.free()
+			for t := range s.transfers {
+				t.cancel()
+				t.wait()
+				t.free()
+			}
+			s.transfers = nil
+			return n, err
 		}
 		s.current = t
 		s.total = n
@@ -82,26 +94,20 @@ func (r ReadStream) Read(p []byte) (int, error) {
 	copy(p, s.current.data()[s.used:s.used+use])
 	s.used += use
 	if s.used == s.total {
-		if s.err == nil {
+		if s.delayedErr == nil {
 			if err := s.current.submit(); err == nil {
 				// guaranteed to not block, len(transfers) == number of allocated transfers
 				s.transfers <- s.current
 			} else {
-				s.err = err
+				s.setDelayedErr(err)
 			}
 		}
-		if s.err != nil {
+		if s.delayedErr != nil {
 			s.current.free()
 		}
 		s.current = nil
 	}
-	var retErr error
-	if s.current == nil && s.err != nil {
-		s.cleanup()
-		retErr = s.err
-		s.err = nil
-	}
-	return use, retErr
+	return use, nil
 }
 
 // Close signals that the transfer should stop. After Close is called,
@@ -109,10 +115,40 @@ func (r ReadStream) Read(p []byte) (int, error) {
 // in progress before returning an io.EOF error, unless another error
 // was encountered earlier.
 func (r ReadStream) Close() {
-	s := r.s
-	if s.err != nil {
-		s.err = io.EOF
+	r.s.setDelayedErr(io.EOF)
+}
+
+// WriteStream is a buffer that will send data asynchronously, reducing
+// the latency between subsequent Write()s.
+type WriteStream struct {
+	s *stream
+}
+
+// Write sends the data to the endpoint. Write returning a nil error doesn't
+// mean that data was written to the device, only that it was written to the
+// buffer. Only a call to Flush() that returns nil error guarantees that
+// all transfers have succeeded.
+func (w WriteStream) Write(p []byte) (int, error) {
+	s := w.s
+	written := 0
+	all := len(p)
+	for written < all {
+		if s.current == nil {
+			s.current = <-s.transfers
+			s.total = len(s.current.data())
+			s.used = 0
+		}
+		use := all - written
+		if use > s.total {
+			use = s.total
+		}
+		copy(s.current.data()[s.used:], p[written:written+use])
 	}
+	return 0, nil
+}
+
+func (w WriteStream) Flush() error {
+	return nil
 }
 
 func newStream(tt []transferIntf, submit bool) *stream {
@@ -120,15 +156,14 @@ func newStream(tt []transferIntf, submit bool) *stream {
 		transfers: make(chan transferIntf, len(tt)),
 	}
 	for _, t := range tt {
-		s.transfers <- t
-	}
-	if submit {
-		for _, t := range tt {
+		if submit {
 			if err := t.submit(); err != nil {
-				s.err = err
+				t.free()
+				s.setDelayedErr(err)
 				break
 			}
 		}
+		s.transfers <- t
 	}
 	return s
 }
diff --git a/usb/transfer_stream_test.go b/usb/transfer_stream_test.go
index 570f055..352973e 100644
--- a/usb/transfer_stream_test.go
+++ b/usb/transfer_stream_test.go
@@ -15,8 +15,12 @@
 package usb
 
 import (
+	"bytes"
 	"errors"
+	"fmt"
 	"io"
+	"reflect"
+	"strconv"
 	"testing"
 )
 
@@ -42,7 +46,7 @@ func (f *fakeStreamTransfer) submit() error {
 		return errors.New("submit() called twice")
 	}
 	if len(f.res) == 0 {
-		return io.ErrUnexpectedEOF
+		return errors.New("submit() called but fake result missing")
 	}
 	f.inFlight = true
 	res := f.res[0]
@@ -61,11 +65,13 @@ func (f *fakeStreamTransfer) wait() (int, error) {
 		return 0, errors.New("wait() called without submit()")
 	}
 	if len(f.res) == 0 {
-		return 0, io.ErrUnexpectedEOF
+		return 0, errors.New("wait() called but fake result missing")
 	}
 	f.inFlight = false
 	res := f.res[0]
-	if res.waitErr != nil {
+	if res.waitErr == nil {
+		f.res = f.res[1:]
+	} else {
 		f.res = nil
 	}
 	return res.n, res.waitErr
@@ -84,49 +90,148 @@ func (f *fakeStreamTransfer) data() []byte  { return fakeTransferBuf }
 
 var sentinelError = errors.New("sentinel error")
 
+type readRes struct {
+	n   int
+	err error
+}
+
+func (r readRes) String() string {
+	var buf bytes.Buffer
+	fmt.Fprintf(&buf, "<%d bytes", r.n)
+	if r.err != nil {
+		fmt.Fprintf(&buf, ", error: %s", r.err.Error())
+	}
+	buf.WriteString(">")
+	return buf.String()
+}
+
 func TestReadStream(t *testing.T) {
-	transfers := []*fakeStreamTransfer{
-		{res: []fakeStreamResult{
-			{n: 500},
-		}},
-		{res: []fakeStreamResult{
-			{n: 500},
-		}},
-		{res: []fakeStreamResult{
-			{n: 123, waitErr: sentinelError},
-		}},
-		{res: []fakeStreamResult{
-			{n: 500},
-		}},
-	}
-	intfs := make([]transferIntf, len(transfers))
-	for i := range transfers {
-		intfs[i] = transfers[i]
-	}
-	s := ReadStream{newStream(intfs, true)}
-	buf := make([]byte, 400)
-	for _, rs := range []struct {
-		want int
-		err  error
+	for tcNum, tc := range []struct {
+		desc        string
+		closeBefore int
+		// transfers is a list of allocated transfers, each transfers
+		// carries a list of results for subsequent submits/waits.
+		transfers [][]fakeStreamResult
+		want      []readRes
 	}{
-		{400, nil},
-		{100, nil},
-		{400, nil},
-		{100, nil},
-		{123, sentinelError},
-		{0, io.ErrClosedPipe},
+		{
+			desc:        "two transfers submitted, close, read returns both and EOF",
+			closeBefore: 1,
+			transfers: [][]fakeStreamResult{
+				{{n: 400}},
+				{{n: 400}},
+			},
+			want: []readRes{
+				{n: 400},
+				{n: 400},
+				{err: io.EOF},
+				{err: io.ErrClosedPipe},
+			},
+		},
+		{
+			desc:        "two transfers, two and a half cycles through transfer queue",
+			closeBefore: 4,
+			transfers: [][]fakeStreamResult{
+				{{n: 400}, {n: 400}, {n: 400}, {waitErr: errors.New("fake wait error")}},
+				{{n: 400}, {n: 400}, {waitErr: errors.New("fake wait error")}},
+			},
+			want: []readRes{
+				{n: 400},
+				{n: 400},
+				{n: 400},
+				{n: 400},
+				{n: 400},
+				{err: io.EOF},
+				{err: io.ErrClosedPipe},
+			},
+		},
+		{
+			desc: "4 transfers submitted, two return, third fails on wait",
+			transfers: [][]fakeStreamResult{
+				{{n: 500}},
+				{{n: 500}},
+				{{n: 123, waitErr: sentinelError}},
+				{{n: 500}},
+			},
+			want: []readRes{
+				{n: 400},
+				{n: 100},
+				{n: 400},
+				{n: 100},
+				{n: 123, err: sentinelError},
+				{err: io.ErrClosedPipe},
+			},
+		},
+		{
+			desc: "2 transfers, second submit fails initialization but error overshadowed by wait error",
+			transfers: [][]fakeStreamResult{
+				{{n: 123, waitErr: sentinelError}},
+				{{submitErr: errors.New("fake submit error")}},
+			},
+			want: []readRes{
+				{n: 123, err: sentinelError},
+				{err: io.ErrClosedPipe},
+			},
+		},
+		{
+			desc: "2 transfers, second submit fails during initialization",
+			transfers: [][]fakeStreamResult{
+				{{n: 400}},
+				{{submitErr: sentinelError}},
+			},
+			want: []readRes{
+				{n: 400},
+				{err: sentinelError},
+				{err: io.ErrClosedPipe},
+			},
+		},
+		{
+			desc: "2 transfers, 3rd submit fails during second round",
+			transfers: [][]fakeStreamResult{
+				{{n: 400}, {submitErr: sentinelError}},
+				{{n: 400}},
+			},
+			want: []readRes{
+				{n: 400},
+				{n: 400},
+				{err: sentinelError},
+				{err: io.ErrClosedPipe},
+			},
+		},
 	} {
-		n, err := s.Read(buf)
-		if n != rs.want {
-			t.Errorf("Read(): got %d bytes, want %d", n, rs.want)
-		}
-		if err != rs.err {
-			t.Errorf("Read(): got error %v, want %v", err, rs.err)
-		}
-	}
-	for i := range transfers {
-		if !transfers[i].released {
-			t.Errorf("Transfer #%d was not freed after stream completed", i)
-		}
+		t.Run(strconv.Itoa(tcNum), func(t *testing.T) {
+			t.Logf("Case %d: %s", tcNum, tc.desc)
+			ftt := make([]*fakeStreamTransfer, len(tc.transfers))
+			tt := make([]transferIntf, len(tc.transfers))
+			for i := range tc.transfers {
+				ftt[i] = &fakeStreamTransfer{
+					res: tc.transfers[i],
+				}
+				tt[i] = ftt[i]
+			}
+			s := ReadStream{newStream(tt, true)}
+			buf := make([]byte, 400)
+			got := make([]readRes, len(tc.want))
+			for i := range tc.want {
+				if i == tc.closeBefore-1 {
+					t.Logf("Close()", tcNum)
+					s.Close()
+				}
+				n, err := s.Read(buf)
+				t.Logf("Read(): got %d, %v", tcNum, n, err)
+				got[i] = readRes{
+					n:   n,
+					err: err,
+				}
+			}
+			if !reflect.DeepEqual(got, tc.want) {
+				t.Errorf("Got Read() results:\n%v\nwant Read() results:\n%v\n", got, tc.want)
+			}
+			for i := range ftt {
+				if !ftt[i].released {
+					t.Errorf("Transfer #%d was not freed after stream completed", i)
+				}
+			}
+		})
 	}
 }