Teresa Amabile of the Harvard Business School hypothesized that intrinsic motivation - that which comes naturally from within - is still the best, and extrinsic motivation that's controlling is still detrimental to creativity, but extrinsic motivators that reinforce intrinsic drives can be highly effective.
What motivates our companion to do a job? The satisfaction of a job well done? The personal reward? The fear of failure? The good it serves others? The success of the team? Speak in terms of that for fastest results.
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