New applications scenarios are emerging in which robots will have an increasingly pervasive role in our daily activities. In particular, human-robot interaction could benefit our society in multiple ways. Assistive and health care robotics can improve the quality of life for the elderly or the physically impaired. Robots can be used in search and rescue. Innovative robotics-based services could improve our quality of life in urban, office, education and entertainment applications. Human-robot teamwork can also be very valuable in manufacturing and assembly. To succeed with the above applications, the purpose of research in HRI is to facilitate the communication, coexistence, and mutual adaptation between robots and users, by providing robots with natural, safe and satisfactory ways of interfacing with humans and by removing the barriers that may prevent robots acceptance from users. The main workshop objective is to arrive at an assessment of the main advances achieved during the past years and the main challenges that have still to be faces for new robotic applications. Are current HRI interfaces and modalities natural, intuitive and satisfactory? If we expect robots to play a major role on assistance and care, home service, urban service etc. what are the main requirements and challenges that it is necessary to solve concerning human-robot interaction? Because HRI is an interdisciplinary field, the workshop would like to have participants from many disciplines.