A voltage-free contact is any kind of switching circuit that is isolated, does not introduce any potential into the user circuit, and is not referred to ground or a supply rail. This allows the user to connect it to any circuit potential of choice, within reason.
The most obvious example is a pair of relay contacts, which are truly volt-free. A common sort of output is the open-collector transistor stage. This is not volt-free since its base and emitter are referenced to the driver circuit and one supply rail, usually ground. Opto-isolators are arguably semi volt-free as they provide high voltage isolation between input and output, but the floating transistor can only drive certain kinds of other circuits and not an a.c.load directly.