Joseph P. Allen, Stuart T. Hauser, Kathy L. Bell, Thomas G. O'Connor, Longitudinal Assessment of Autonomy and Relatedness in Adolescent-Family Interactions as Predictors of Adolescent Ego Development and Self-Esteem, Child Development, Vol. 65, No. 1 (Feb., 1994), pp. 179-194
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Allen et al. (1994) studied this question.