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The term "man at arms" is used to describe professional soldiers of social standing less than a knight but above that of a levied man. They were generally part of the retinue of a lord or knight.

Man at Arms in the SCA

Man-at-arms is a term used in some SCA kingdoms and households to indicate a student of a squire (the relationship is similar to that between a squire and a knight, but taken down a step).