This volume is the proceedings of the 5th International Symposium on New Frontiers in Human-Robot Interaction, held at the AISB Convention 2016, which took place on the 5th and 6th of April 2016, in Sheffield, U.K. Organised by Maha Salem (Google U.K.), Astrid Weiss (Vienna University of Technology, Austria), Paul Baxter (Lincoln University, U.K.), and Kerstin Dautenhahn (University of Hertfordshire, U.K.).