Help given to others, even on moral grounds, is not the result of sticking to a principle. Beneficence to others carried out from such a mindset is bound to strike us as grotesque. In Kant's own terms, however, the motive of duty in this example would be much more plausibly regarded as love of human beings – that is, the sorrowful man helps others because he has moral grounds to care about them and make their well-being his end. Realizing that this option is open to Kant may help us to correct many common errors about what Kantian ethics must say in such cases.

Kantian Ethics (2008) - Ch. 2. Moral Worth