What is the legal definition of 'Itq (emancipation)?

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In jurisprudence, emancipation is the act of freeing a captive, releasing a slave from bondage. The terms used are 'ataqa al-'abd' (the slave was freed), 'a'taqtuhu ana' (I freed him), and the slave is described as 'ateeq' or 'mu'taq'.