'Forced Labor' in the Bible

It happened, when Israel had grown strong, that they put the Canaanites to forced labor, and did not utterly drive them out.

Zebulun didn't drive out the inhabitants of Kitron, nor the inhabitants of Nahalol; but the Canaanites lived among them, and became subject to forced labor.

Naphtali didn't drive out the inhabitants of Beth Shemesh, nor the inhabitants of Beth Anath; but he lived among the Canaanites, the inhabitants of the land: nevertheless the inhabitants of Beth Shemesh and of Beth Anath became subject to forced labor.

but the Amorites would dwell in Mount Heres, in Aijalon, and in Shaalbim: yet the hand of the house of Joseph prevailed, so that they became subject to forced labor.