Which categories of recipients only receive Zakat when in need (due to poverty or necessity)?

Primary text

Five categories are only given Zakat upon demonstration of need (hajah). These are: the poor (al-faqir), the needy (al-miskin), the indentured servant seeking freedom (al-mukātib), the debtor settling a personal permissible matter (al-ghārim li-maslahati nafsihi fī mubāḥ), and the wayfarer (ibn al-sabil). This distinction is based on the general principles governing Zakat disbursement as mentioned herein.