The 3-volume set LNAI 15561-15563 constitutes the refereed proceedings of the 16th International Conference on Social Robotics, ICSR + AI 2024, held in Odense, Denmark, during October 23-26, 2024.The 109 full papers and 19 short papers included in the proceedings were carefully reviewed and selected from 182 submissions. The theme of this year's conference was "e;Empowering Humanity: The Tole of Social and Collaborative Robotics in Shaping Our Future"e;. The contributions focus on social robotics and AI across the domains of the visual and performing arts, including design, music, live performance, and interactive installations.