Kiddushin(70a): He said, “Let my daughter Donag serve drinks.” He replied, “But Shmuel said that one may not make use of a woman.” “But she is only a child!”“But Shmuel said explicitly not to make use of a woman at all whether she is and adult or a child.”
Kiddushin(81b):Rav Acha went to visit Rav Chisda his son‑in‑law. He took his young granddaughter and put her on his lap. Rav Chisda asked: Don’t you know she is betrothed [and thus you not show affection because she is a married woman – Rashi]? Rav Acha said: Then you have violated Rav ruling that one should not betroth a child while she is still a minor but should wait until she has grown up and say who she wants to marry. Rav Chisda said: But you have transgressed Shmuel ruling - by placing her on your lap – that one should not utilize a woman. Rav Acha said: I am following a different ruling of Shmuel that all is to be done for the sake of Heaven [and my intent was not love of a woman but rather to show affection for my granddaughter and make my daughter happy when she see me being affectionate - Rashi]
Beis Shmuel(E.H. 21:11): Only their intent should be for the sake of Heaven – to make it pleasant for her father and mother and other such things. Because of this there is a custom to dance with the kallah in order to make her more beloved of the chasan or to honor or father. However it is appropriate for a talmid chachom to be strict. The Bach writes that in our land the practice is to be lenient and not to prohibit it. It is apparent from Tosfos that all that is not for the sake of love but for the sake of Heaven is permitted.
Beis Shmuel(E.H. 21:12): To examine her scalp – for lice…It would appear that there is a distinction between examination of his wife – which is not to be done in the presence of others because they will come to sexual fantasy because they will remember their own personal intimacies but concerning his daughter or his sister and granddaughter there is no memories stirred of indelicacies and therefore it is permitted before others.
Rambam(Hilchos Ishus 21:5): It is prohibited to make use of a woman at all – whether she is an adult or a child or whether she is a slave or a free woman – because it might lead to sexual fantasy. What type of service are we talking about? It is washing his face and feet, making his bed before him, filling up his cup – all of these things are only to be done by his wife. Furthermore one should not ask after the welfare of a woman at all – even by means of an intermediary.
Shulchan Aruch(E.H. 21:5): It is prohibited to utilize a woman at all. It doesn’t matter whether she is an adult or child or whether she is a slave or a free woman – because this might lead to sexual fantasy. What utilization are we talking about? It is the washing of his face, hands and feet. Even to pour the water to wash his face, hands and feet even with out touching him is prohibited. Making his bed before him and pouring his cup. Rema Some say that it is also prohibited with all prohibited relations to eat from a common dish – just as when his wife is a nidah. Some are lenient with all these because they are only prohibited when his wife is a nidah. Others say that all of this is only in private but in a location where many people are present such as a bath – it is permitted to wash from non-Jewish slaves. And that is the way we are accustomed. Others say that all actions which are not done in a loving manner but his intent is for the sake of heaven is permitted. Therefore we are accustomed to be lenient with these things. Some people say that we are not to act even with one’s wife in acts of loving affections – such as to examine the scalp for lice – in the presence of others.
Tosfos(Kiddushin 82a): Everything is to be done for the sake of heaven - We rely on this now to permit utilizing women.