This book constitutes the refereed proceedings of the 5th International Workshop on Haptic and Audio Interaction Design, HAID 2010 held in Copenhagen, Denmark, in September 2010. The 21 revised full papers presented were carefully reviewed and selected for inclusion in the book. The papers are organized in topical sections on multimodal integration, tactile and sonic explorations, walking and navigation interfaces, prototype design and evaluation, and gestures and emotions.