A friend of mine and I were talking about Julius Caesar. He pointed out how he captured an enemy and kept him enslaved. He put him in a cage, paraded him through town and then left him in the public square. People passing by would laugh at him.
Then, think about the equipment that is standard in modern day dungeons. It all has historical roots. We should be horrified by the origins. Yet, we've found a way to make it fun. We've always been kinky, haven't we?