In this chapter, we provide a state of the art of research on the ethical, legal, and social aspects (ELSA) of AI-based systems, and introduce a particular methodology of ELSA laboratory settings designed to study these aspects in collaboration with quadruple helix stakeholders: researchers, companies, civil society/citizens, and policymakers. The advantage of the proposed ELSA Lab methodology is that it enables research to move beyond the micro level of ethics of technology, such as ethics by design, and also address the meso level of AI impacts, including power relations in industrial or sectoral dynamics, as well as the macro level, such as the identity of professionals, the meaning of work, and even broader questions about the meaning of life. The chapter begins with a problem statement regarding the limitations of existing frameworks for responsible AI, such as Value Sensitive Design (VSD) and Responsible Research and Innovation (RRI). We then provide a state of the art overview of ELSA research and present an emerging ELSA Lab methodology that has been developed and tested in the Netherlands. Following the description of the methodology, interventions, and mechanisms involved, the chapter concludes with a reflection on the advantages and disadvantages of this approach, and its potential contribution to the shared objectives of citizens, companies, policymakers, and researchers in achieving responsible AI.