1605, from L.
emancipatus, pp. of
emancipare "declare (someone) free, give up one's authority over," in Roman law, the freeing of a son or wife from the legal authority (
patria potestas) of the
pater familias, to make his or her own way in the world; from
ex- "out, away" +
mancipare "deliver, transfer or sell," from
mancipum "ownership," from
manus "hand" (see
manual) +
capere "take" (see
capable). Adopted in the cause of religious toleration (17c.), then anti-slavery (1776). Also used in ref. to women who free themselves from conventional customs (1850).
Emancipation in the slavery sense is from 1785.