In general, any device that has a rechargeable battery that isn't replaceable easily (i.e., it's an odd shape and would have to have special tools to remove it) should be charged only when it needs it. So you should theoretically charge up the device fully, use it until it is almost dead, and then charge it up fully again. I think of it in terms that I'll never be in a situation where, when I need to charge the battery, that I'll be missing out on much, so it doesn't bother me to discharge fully.
I say this because laptop batteries work the same way, and after using other devices - cordless phones, wireless mouse, etc - it appears to be the best way to maintain the battery and give it long life. And since Lith-Ions have a kind of ceiling after which the battery will begin to lose performance, it is recommended that you only charge it when needed.
Also, I did some research and found this:
http://www.batterymart.com/battery_faq.phpIt illustrates the "memory effect" of NiCd batteries. Interesting read, I'll have to keep all of that in mind.