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bondage

the act of restraining another person or oneself;

when a person is bound so they cannot move it is called “restraint bondage”; they can either be immobilized by binding limbs together or to a fixed object

when a person is bound with to have freedom of movement to cause the binds rub against sensitive areas; this is called “stimulation bondage”

another popular form of bondage is asymmetric, based on Japanese bondage; during this practice, restraints are done to cause a sense of unbalance