Participatory design refers to approaches to technology design that give those a voice in the design process who will be affected by a technology. The talk will provide an analysis of European regulatory frameworks on ethics and participation; a conceptual analysis of the ethics of responsible research and innovation and of participatory mechanisms; and an attempt to merge both ethics and participation in what could be defined as ethical participation. Also, new classifications aiming at a clearer view regarding new publics invited in the arena of research and innovation processes are suggested, in addition to the identification of key factors worth considering for responsive participation. The talk will end with a final suggestion for the design of an ethics framework, which is meant to be used as a tool for reflection and adaptation in any research and innovation context to properly identify who participation will be undertaken with, why and when, as well as the participatory mechanism that is relevant.