Beyond the utopian or dystopian scenarios that accompany the progressive introduction of robots for care in daily environments, their use in the medical field entails controversies that require alternative forms of ethical responsibility. From this general objective, in this article we propose a series of reflections to articulate an ethical framework capable of orienting the introduction and use of robots in the field of health. The presented proposal is developed from a series of considerations about robots and care, as a starting point to develop an ethical framework based on the principle of precaution and measured action. It proposes a non-essentialist conceptualization of robots, that emphasizes their relational and contextual nature, understanding robots as heterogeneous artifacts that are constituted in a network of therapeutic relationships and that mediate our care relationships. This approach has a set of implications, which we articulate around measured action as an ethical proposal. The measured action, in our interpretation, responds to the principle of precaution and is configured through four dimensions: (1) the institutional commitment, (2) which integrates the fears and hopes of all those concerned actors, (3) which is realized carrying out progressive and revocable actions, under continuous monitoring and evaluation, and (4) which incorporates into the design process those actors practicing ″good care″.