If you go by the bolded definition and exclude the enlightenment basis, everything about fits to plenty of slave societies. Ancient Greece included.
https://en.m.wikipedia.org/wiki/Slavery_in_ancient_Greece
In Athens, slaves were the property of their masters and had no legal identity. Slavery was inherited, although slave owners tried to avoid this because it was considered more complicated to breed slaves than to simply replace them as needed. In cases where slaves did have children they belonged to the slave owner, and the owner could split families on a whim. Most slaves were treated better than the African slaves in America by a
massive degree, but it mostly rose to the degree that modern people treat pets or livestock. Any laws protecting slaves did so only indirectly by rather deciding that some types of treatment wasn't fit in Greek society as a matter of its character, not because the slaves really mattered. Slaves were seen as domestic animals and treated as such. Good behaviour was rewarded, but bad behaviour was equally punished and flogging was common.
But that's for house slaves. Slaves who worked in mines or were forced into prostitution were treated far, far worse, and probably little better than African slaves in America. There was a third group - public slaves - who lived more independantly, but were still mistreated. Slave catchers were a thing for runaways, and violent retribution from slaves towards their masters is recorded.
There was a clearly racist component too. Greeks generally considered themselves a master race that couldn't be enslaved, while other ethnic groups - like Persians - were seen as naturally suited to slavery because they were "submissive" in nature, and slaves were generally considered inherently intellectually inferior in that they could understand instructions, but not think for themselves. Much like how white slave owners viewed their slaves. Aristotle defends this concept of "natural slavery" in
The Republic. He directly compared the usage of slaves to that of tamed animals. This was actually a counter-argument to the Sophists of the time, who correctly recognised that there wasn't any inherent difference between the slaves and their masters.
So apart from the fact that the Greeks treated their slaves better (because they were more of a rarity) the entire concept of slavery is roughly the same as that in America. The greatest difference is that the abundance of slaves brought by the trans-Atlantic slave trade made slaves cheap and disposable, which led to harsher conditions and more abuse. It's actually curious when you think about it and consider that while medieval Europe had serfs, they didn't have slaves. Maybe the Renaissance reintroduced the concept to a degree along with the other aspects of the Classical Era, such as limited democracy.