I see the same problem on Ubuntu 16.10 but using the Oracle virtualbox-5.1 packaging for 5.1.10 works perfectly after installing the dkms package and running /sbin/vboxconfig to generate the kernel modules.
I see the same problem on Ubuntu 16.10 but using the Oracle virtualbox-5.1 packaging for 5.1.10 works perfectly after installing the dkms package and running /sbin/vboxconfig to generate the kernel modules.