This paper points out the limitations of the risk mitigation approach centered on "responsible AI" in AI regulatory discourse and proposes a new framework for systematically assessing the social impact of AI. Drawing on Kantian philosophy, it contrasts the concept of freedom (both as capability and opportunity) with the concept of responsibility, and proposes a prototype framework for assessing the social impact of AI using the Sustainable Development Goals (SDGs). This framework complements existing risk-based approaches and represents a first step toward practical application of the concept of freedom in AI regulation.