I liked having my daughter do chores with me. She had less time and energy to get into something she shouldn't. With a few age-appropriate rules ("only mommy can wash the sharp knives"), it's not so bad.
She is older, and does an adequate job without supervision most of the time. I've been giving her some tips every now and then to help her grow from "adequate" to "really good."
The article is right, though. It can take a LOT longer to get anything done, but I feel like it has paid off so far.