In this paper I will study the theoretical foundations of autonomy and argue that many of the disputes around the principle follow from different understandings of what is "true freedom." My analysis will center on the two notions of liberty introduced by Isaiah Berlin in his "Two Concepts of Liberty" (originally published in 1959). The problem is that there is no unequivocal way to understand the division. In my paper, I will give one interpretation of Berlin's two concepts, and argue that this reading both captures the essence of his essay and explains why there are so many ways of respecting autonomy
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