Breonna Taylor's Mom Worried ER Tech Daughter Would Get Coronavirus Before Police Killed Her

The three officers — Jonathan Mattingly, Brett Hankison and Myles Cosgrove — were placed on administrative reassignment. None have been criminally charged.

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Palmer says her daughter always wanted to help others. Her calling started at a young age when she helped her grandmother, who had diabetes.

“Even as a kid, I remember she would ask, ‘Can I stick your finger?,’” says Palmer. “You know, being a diabetic, you've got to prick your finger to test your blood sugar.”

Later, Taylor helped adults with disabilities and then drove people around who needed rides to appointments and grocery stores. She later became a certified EMT and drove an ambulance before becoming an emergency room technician at two local hospitals.

“She was all about helping people,” her cousin Preonia Flakes tells PEOPLE. “She was all about being there for those who couldn't really be there for themselves, or being there for those who might not have people to be there for them.”

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Palmer says her daughter’s ultimate goal was to become a neo-natal nurse. She planned to take classes in the fall.

“She likes babies. She would say, ‘I like babies, I don't like kids,'" Palmer recounted her daughter joking. "She would say, ‘If I get in there, I'll have them when they're at their best. I'll help them right there when they're at their best.'"

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