"Companions" as they are called, are geneticly modified creatures (such as foxes, wolfs, bears, horses, extc created by scientists who were meeting a demand for better pets. Pets that can live as long as humans, pets that can walk and talk as the humans do. But the humans viewed the companions as Pets, as property. Humans use a chip called the "Companion" chip that sends messages to the hosts brain and instructs the host to well... serve.
Laws were passed that prohibited excessive use of abuse such as, beatings, floggings, mutilation, and other unethical practices to be done to the companions... however, sexual abuse was not prohibited so long as the companion was over the age of 16.
Those who broke the laws were stripped of their companions (see Companion Retention Agency for more details) and were sentenced to 10 years in prison or more depending on the state of the companion.

On Freed Companions

There are companions who have been freed by their masters after some years of servitude... These companions are free to work where they please if the owner of the workplace allows for companions to work there as well... Though discrimination often puts off such avenues. Most freed companions are working with Rights of all species activists to try and ban the Companions Act... If successful all companions would be free to live life as they see fit and their companion chips perminately removed. They would undergo recovery process that helps them be completely free of the chips influence.