This book covers a wide range of topics related to human-robot interaction, both physical and cognitive, including theories, methodologies, technologies, and experimental studies. An increasing number of robots operate closely with humans and are expected to interact with people in everyday life, such as patients in hospitals, children in schools, or elderly people in domestic environments. New generations of human-friendly robots must meet the needs of these non-expert users, ensuring safety and trustworthiness both physically and cognitively.  To realize this vision, the International Workshop on Human-Friendly Robotics (HFR) provides an opportunity for academic, research, and industry experts to exchange and share their experiences and achievements related to the integration of robots into everyday life. The 17th edition of HFR took place in Lugano, Switzerland, on September 30 and October 1, 2024, and organized by Dalle Molle Institute for Artificial Intelligence (IDSIA), USI-SUPSI.