Are a sense of duty and a sense of responsibility the same thing?

According to Osho, duty and responsibility are not the same: duty is other-oriented, a social formality done from thought, fear, ego, or reputation; responsibility is self-oriented, the capacity to respond from love, feeling, and presence. Duty drags and obliges; responsibility flows spontaneously from the heart. He rejects duty as 'dirty' and urges acting only when inner sensitivity calls, even if that means saying no.