Something that I didn't see in this conversation is the fact that touching someone without their consent is assault, and touching their private parts without their consent is sexual assault.
I think that means that forcing them to have something pressed against their private parts 24 hours a day, without consent, is continuous sexual assault.
Another thought I had is that it is not okay for a boss to offer a promotion or a raise in exchange for intimate favors. It's called "quid pro quo," and under these circumstances consent is not considered to be free. That situation is different in many ways from what's being discussed here, but I think the principle may be relevant.
LoonyMel The mechanism of "not telling the truth" or "they do it for my good but others will recriminate" are just two sentences that everyone can hear in the mouth of a beaten wife coerced from her husband or family into silence. We created laws for a reason.
This is complicated. BDSM wasn't always as well known or as somewhat accepted as it is now. I'm very careful to tell my husband when I have medical appointments or plans to go swimming so that he can avoid giving me bruises. I am not abused. Everything is consensual, but I really don't want to have to answer any questions or to end up getting my husband arrested for domestic violence, especially after I heard rumors that police can arrest him even if you don't want them to in order to protect you.