Here's a link that provide some emancipation info for Massachusetts.
http://www.clcm.org/minors_rights.htm
It states (among many other things):
"There is no formal procedure in Massachusetts for a child to become emancipated from his/her parents. Most judges will not grant a child emancipated status. However, a child may still file for emancipation in the Probate and Family Court of his or her county despite the lack of a formal procedure."