Readers of this Blog may find interesting the perceptive blog by Edinburgh law graduate, Helen Dale or Darville, on this sensitive topic. The Australian author is best known for her prize-winning novel, The Hand that Signed the Paper (1994), originally published under the pseudonym, Helen Demidenko. See https://lawliberty.org/forum/learning-from-roman-libertas/
For students wanting to understand Roman society and the relationships within Roman families (including relationships with slaves), the three B.B.C. programmes by Mary Beardsley, “Meet the Romans”, cannot be recommended enough for their accessible and entertaining but very nuanced and subtle account.
