Giving vs. Receiving - What is the balance?

How can we properly do a mitzvah that is "Good for the giver and good for the receiver"? According to Rabbi Yehuda HaNasi, altruism needs to be balanced with the needs of the receiver. How do we strike that balance?  

Rav Weiss examines the appropriate balance of giving Tzedaka, the difference between "Tzedaka" and "charity", and how to give that will be a benefit to the recipient as well. 

As well, what does it mean to keep the mitzvot that are "light" and "stringent" identically?

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