Responsible research and innovation (RRI) has affirmed the value of 'inclusion' and 'responsiveness' as institutional virtues necessary to ensure that reflexivity towards the social priorities behind innovation processes is made possible. It is argued that this affirmation links RRI to knowledge politics in other domains (e.g. environmental justice and the politics of development). It is suggested that lessons regarding inclusion and responsiveness can be drawn from these domains, focusing on the ways in which marginalised perspectives on need and vulnerability, once articulated, can help reconstitute the public sphere in which social priorities are defined. Three case studies are used to explore how entanglements of needs, vulnerabilities,...