Watch the Ringin' the Funk online guitar lesson by Brad Carlton from Chord Studies: Jazz Funk Vol. 1
Here we have some Em7/6 voicings laid out in some keyboard-style voicings. You've got to keep the first finger very upright because we need the first string ringing open throughout. Even though some of these changes don't use any pivot or guide fingers you can still achieve a legato sound by allowing the open strings to ring as you switch chords.