Minuscule
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Minuscule, or lower case, is the smaller form (case) of letters (in the Roman alphabet: a, b, c, ...). Originally alphabets were written entirely in majuscule (capital) letters which were spaced between well-defined upper and lower bounds. When written quickly with a pen, these tended to rounder and simpler forms, like uncials. It is from these that the first minuscule hands developed, the half-uncials and cursive minuscule, which no longer stay bound between a pair of lines.
These in turn formed the foundations for carolingian minuscule, developed by Alcuin for use in the court of Charlemagne, which quickly spread across Europe. Here for the first time it became common to mix both majuscule and minuscule letters in a single text.
Note: The word itself is often spelt miniscule, by association with the unrelated word miniature and the prefix mini. This is traditionally regarded as a spelling mistake, but is now so common that dictionaries tend to accept it as a spelling variation. However, miniscule is still less likely to be used for minuscule letters.
History
Traditionally, more important letters - those beginning sentences or nouns - were made larger; now they were written in a different script, although there was no fixed capitalization system until the early 18th century (and even then all nouns were capitalized, a system still followed in German but not in English).
Similar developments have taken place in other alphabets. The minuscule script for the Greek alphabet has its origins in the seventh century and acquired its quadrilinear form in the eighth century. Over time, uncial letter forms were increasingly mixed into the script. The earliest dated Greek minuscule text is the Uspenski Gospels (MS 461) in the year 835. The modern practice of capitalizing every sentence seems to be imported (and is commonly not used when printing Ancient Greek materials even today).
Usage
In languages with a case distinction, minuscules are generally used in most texts, and for most of any given text, with majuscules reserved for emphasis and special contexts.