This book constitutes the refereed proceedings of the 16th International Conference on Social Robotics, ICSR + InnoBiz 2024, held in Shenzhen, China, during September 25–28, 2024. The 36 full papers included in this book were carefully reviewed and selected from 82 submissions. The theme of this year’s conference was “Social Robotics: Embracing Innovation for Business”, focusing on recent technological innovation in the robotic industry.