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Handcuffs were a restraint device used by law enforcement.
Jesse James showed the Doctor how to slip out of handcuffs. (PROSE: The Shadow of Weng-Chiang)
Whilst travelling with the Eighth Doctor, Lucie Miller was taught how to escape from handcuffs by Harry Houdini. (PROSE: The Great Escapes)
River Song handcuffed the Tenth Doctor so he could not stop her sacrificing herself to save the people in the the Library's computer. (TV: Forest of the Dead) From how said "Spoilers", it's suggested they used them during sex.
Jo Grant handcuffed herself to Robert Mugabe during a political protest. (TV: Death of the Doctor)