Mobility disabilities are prevalent in our ageing society and impede activities important for the independent living of elderly people and their quality of life. Designing and controlling robotic devices that can assist frail elderly people and generally people with mobility impairments constitutes an emerging research field in robotics. Many challenging scientific and technological problems need to be addressed in order to build efficient and effective assistive robotic systems, including: (i) human motion tracking, action and intention recognition fusing multimodal sensorial data, (ii) analysing and modelling human behaviour in the context of physical and non-physical human-robot interaction, (iii) developing context-aware, human-centred robot control systems that can act both proactively and adaptively in order to optimally combine physical, sensorial and cognitive assistance modalities, (iv) to foster intuitive and natural human-robot communication ultimately achieving assistive robotic behaviours that emulate the way a human carer would operate while taking into account social interaction and ethical constraints. This workshop aims to gather researchers covering different topics within this multi¬disciplinary and challenging research field. The objective is to provide a review of recent scientific and technological advancements in the field, as well as to highlight novel application perspectives, both from a clinical and an industrial viewpoint, that may have a significant societal impact in the near future.