Mitja Trkov

About

Mitja Trkov is a robotics and mechanical engineering researcher whose work spans human biomechanics, wearable assistive devices, and soft robotics. His research addresses two major challenges: preventing fall-related injuries in humans and advancing the capabilities of compliant robotic systems. Trkov's early work focused on bipedal locomotion modeling, particularly the dynamics of foot slip — a leading cause of human falls. His analytical models and hybrid zero dynamics frameworks (cited over 28 and 12 times, respectively) laid the groundwork for his development of wearable robotic knee assistive devices aimed at slip-induced fall prevention. This translational research culminated in practical applications for construction workers, with his wearable knee assistive device paper earning 53 citations and representing his most impactful contribution to occupational health and safety. Equally notable is his contributions to soft robotics, where he has pioneered modular, reconfigurable pneumatic actuators and design optimization frameworks combining physics-based modeling with deep reinforcement learning (31 citations). His more recent work on flexible perforated sheet actuators and stiffness-modulating modular robots signals a growing influence in next-generation compliant systems. Collectively, Trkov's research bridges human-centered biomechanics with intelligent, adaptive robotic design.

Research Focus

Key Achievements

Top Papers

1. 1
   Wearable Knee Assistive Devices for Kneeling Tasks in Construction

   53 citations · 2021
2. 2
   Design Optimization of a Pneumatic Soft Robotic Actuator Using Model-Based Optimization and Deep Reinforcement Learning

   31 citations · 2021
3. 3
   A robotic bipedal model for human walking with slips

   28 citations · 2015
4. 4
   Reconfigurable modular soft robots with modulating stiffness and versatile task capabilities

   14 citations · 2024
5. 5
   Design of a Robotic Knee Assistive Device (ROKAD) for Slip-Induced Fall Prevention during Walking

   13 citations · 2017
6. 6
   Bipedal Model and Hybrid Zero Dynamics of Human Walking With Foot Slip

   12 citations · 2019
7. 7
   A Stick-Slip Interactions Model of Soft-Solid Frictional Contacts

   12 citations · 2018
8. 8
   Balance Recoverability and Control of Bipedal Walkers With Foot Slip

   11 citations · 2021
9. 9
   Modular Soft Robotic Actuators from Flexible Perforated Sheets

   9 citations · 2023
10. 10
    Modular reconfigurable rotary style soft pneumatic actuators

    9 citations · 2024

Key Collaborators

Contact & Links