Needlework was the act of using a needle and thread to create art.
A sampler was one type of needlework. In 2371, within the holoprogram Janeway Lambda one, surprised that Beatrice Burleigh liked to study "nothing", "Lucille Davenport" suggested painting or needlework as examples of disciplines she thought might interest the girl, prompting Beatrice to admit that she had finished her first sampler. (VOY: "Learning Curve")
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