rēstĭpŭlātĭo, ōnis, f. [restipulor],
a counter-engagement , counter-obligation , Cic. Rosc. Com. 13, 37 sq.; Gai. Inst. 4, 18, p. 259 Goes.
restipulātiō ōnis, f restipulor, a counterengagement, counter-obligation : nova. ...
An Elementary Latin Dictionary