This book constitutes the refereed proceedings of the 16th International Conference on Social Robotics, ICSR + BioMed 2024, held in Singapore during August 16-18, 2024. The ICSR + BioMed 2024 conference emphasized interdisciplinary innovations in Bio-inspired,Biomedical, and Surgical Robotics.

.- Advancing Closed-Chain Robot Control through Model Predictive Techniques and Virtual Breakpoints. .- Design and calibration of puncture needle shape sensing sensor based on FBG. .- Design and Baseline Drift Compensation for Respiratory Acquisition Devices. .- Key Technologies of Cobots with High Payload-Reach to Weight Ratio: A Review. .- Memory-augmented Deep Deterministic Policy Gradient. .- Optimization of cable tension for a cable-driven parallel rehabilitation robot considering dumping judgment and pelvic motion mechanism. .- The Design of a Human-Robot Interaction System for Social Robots Assisted by Large Models. .- Evaluation of Heavy Truck Front Face Styling Imagery Based on a Multiscale Approach. .- Personalised 3D Human Digital Twin with Soft-Body Feet for Walking Simulation. .- Interactive Force Control of Supernumerary Robotic Dexterous Hand for Rehabilitation and Assistance. .- A Flexible Hydrogel-based Electroluminescent Sensing Device for Electronic Skin. .- Using a Pneumatic Tactile Steering Wheel to Enhance the Multi-Modal Takeover Request In Smart Vehicle. .- Robotic Cognitive Behavioural Therapy: rCBT. .- A Review on Social Awareness Navigation for Service Robots. .- Trust Assessment Model for Visual Image-Based Human-Robot Interaction under Known and Unknown Threats. .- Study on multimodal physiological data fusion to improve abnormal workload recognition accuracy. .- Research on pose adjustment algorithm for large components based on parallel robots. .- UI design introducing cognitive theory: application to a wrist rehabilitation robotic system. .- Agent-based Robotic Systems via Large Language Model. .- Application of preoperative digital registration on implant placement by the semi-active robot: a retrospective study. .- Controller fatigue detection based on human eye characteristics Effectiveness research. .- Design of cloud-edge-end collaborative monitoring system for lower limb rehabilitation exoskeleton. .- Accuracy analysis of robot-assisted transcrestal sinus floor elevation and simultaneous implant placement. .- Structural topology optimization for load-bearing bone scaffolds. .- Actuation Mechanisms and Functions for Medical MicroNanorobots. .- Prescribed-time Output-feedback Control of Nonlinear Robotic Systems. .- Application of DeepLab-MDA Semantic Segmentation Network in Electric Power Scenarios. .- Using Linear Channel Attention to Enhance Real-time Colonoscopy Object Detection.