In fact, if you read what Kant has to say about feeling, desire and emotion, you see that he is not at all hostile to these. He is suspicious of them insofar as they represent the corruption of social life (here he follows Rousseau), but he also thinks a variety of feelings (including respect and love of humanity) arise directly from reason - there is, in other words, no daylight between the heart and the head regarding such feelings.
Some empirical feelings, such as sympathy, are indispensable parts of certain moral virtues.
Virtues consist not only of acting in certain ways, but in ways of caring and feeling.
Kant's system of duties constitutes a Doctrine of Virtue because the duties also indicate what kinds of attitudes, dispositions and feelings are morally virtuous or vicious.
Kant does not think there is anything wrong with being beneficent from sympathy. He thinks we have a duty to cultivate sympathetic feelings by participating in the situations of others and acquiring an understanding of them. He thinks we also have a duty to make ourselves into the kind of person for whom the recognition that something is our duty would be a sufficient incentive to do it (if no other incentives were available to us). That's what he means by "the duty to act from the motive of duty".
Kant does not think that along with choice of an action we also choose in each case the motive from which we do it. He thinks all is well if I act beneficently, realizing that it is my duty but also having sympathetic feelings for the person I help. But I ought to strive to be the sort of person who would still help even if these feelings were absent. And it is such a case that he presents when the sympathetic friend of humanity finds his sympathetic feelings overclouded by his own sorrows, and still acts beneficently from duty.
Notice that tearing oneself out of the insensible state is the opposite of remaining in it; the man who is beneficent from duty nevertheless acts with feelings, if not with empirical inclinations.
If being "iron headed" is to be lacking such feelings, then Kant's position is that an ironheaded person could not be a moral agent because such a person would not be rational.
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