The senmin were known as 'the five lowly kinds,' which were 'ryoko,' families of the keepers of imperial tombs; 'kanko,' servants belonging to government offices and involved in government work; 'kunui,' government-owned slaves; 'kenin,' slaves owned by nobles or powerful people for odd jobs; and 'shinui,' private servants.
賎民は五色の賎と言われ、陵戸（天皇・皇族の陵墓を代々守る家系）、官戸（諸官庁に属し公用に従事）、公奴婢（官有の奴隷）、家人（貴族や有力者に属し雑用に従事）、私奴婢（私有の奴隷）があった。