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Lacan introduced the concept of "separation" in Seminar XI.
"Separation" is linked to desire, and designates the process through which the child differentiates himself from the mother and is not simply a subject of language.
Separation occurs in the domain of desire and requires from the subject a "want-to-be" (manque-à-être) separate from the signifying chain.
It also involves a "want to know" of that which is outside structure and beyond language and the Other.