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Lucy was a human that Bernice Summerfield met on Crex.

After Guy de Carnac's death, the Seventh Doctor took Bernice to a market on the planet Crex. While he went to meet Laylock to obtain the technology to make himself temporarily human, Benny found a beer tent and shared drinks with three human women she found there.

One of them, Lucy, was a psychology tutor who had been on Crex for a month, unable to find a ship to get her off the planet. (PROSE: Human Nature)