A manufacturer of prosthetic devices has decided to review his company's sales com- pensation system. Historically, salespeople were paid on straight salary. Although the company has grown in recent years, the president is convinced that the sales force could generate more sales volume. A major part of the sales job is missionary, yet with the increasing number of physician groups expanding into rehabilitation medicine, a new target market is possible. The manu- facturer is also concerned that not all the products in the line have the same margin. What form of compensation would you recommend?