Handmaidens are female servitors, often enslaved and subservient workers to more powerful persons.
In the 25th century, handmaidens were in use by Princess Ardala of the Draconian Empire (BR25: "Awakening").
Roxanne Trent also has a young Earth girl as her handmaiden, Alicia, who is later freed (BR25: "Return of the Fighting 69th").