Property

"Slaves need to be beaten regularly--not as punishment, it's better if there is no particular reason, except to remind the slave of who and what he is.  It's hard to stay focused on the idea that you're property, and a good beating brings that home to a slave's mind in a very direct and unmistakeable way.  Most slaves come to enjoy their beatings and to miss them if the routine is interrupted.  In fact, it's a form of abuse to deny them that discipline, because nothing else seems to reinforce the special bond between Master and slave... as well as a regular, expected beating." 

From "In Service" by David Stein, as part of the Marketplace series by Laura Antoniou

This is quoted from a work of fiction, but this paragraph sums up very neatly the feelings of my Master and myself on this topic.