The Prophet ﷺ used to take the Pledge of allegiance from the women by words only after reciting this Holy Verse:--(60.12) "..that they will not associate anything in worship with Allah." (60.12) And the hand of Messenger of Allah ﷺ did not touch any woman's hand except the hand of that woman his right hand possessed. (i.e. his captives or his lady slaves).
كَانَ النَّبِيُّ ﷺ يُبَايِعُ النِّسَاءَ بِالْكَلاَمِ بِهَذِهِ الآيَةِ {لاَ يُشْرِكْنَ بِاللَّهِ شَيْئًا} قَالَتْ وَمَا مَسَّتْ يَدُ رَسُولِ اللَّهِ ﷺ يَدَ امْرَأَةٍ إِلاَّ امْرَأَةً يَمْلِكُهَا