Publications

Journal publications:

(*equal contributions, †graduate and ‡undergraduate students under my direct supervision) 

1. P. Twomey†, V. Varma†, L. L. Bush, and M. Trkov, “Collider-based Movement Detection and Control of Wearable Soft Robots for Visually Augmenting Dance Performance”, Frontiers in Robotics and AI, 11, 2024, https://doi.org/10.3389/frobt.2024.1450177.

2. J. Knospler†, N. G. Pagliocca†, W. Xue, M. Trkov, “TendrilBot: Modular Soft Robot with Versatile Radial Grasping and Locomotion Capabilities”, Sensors and Actuators A: Physical, 378, 115835, 2024, https://doi.org/10.1016/j.sna.2024.115835.

3. N. G. Pagliocca†, A. Gupta‡, J. Knospler†, N. K. Singh, and M. Trkov, “Modular Reconfigurable Rotary Styled Soft Pneumatic Actuators”, Sensors and Actuators A: Physical, 378, 115830, 2024, https://doi.org/10.1016/j.sna.2024.115830.

4. K. Z. Uddin, H. Nguyen, T. T. Nguyen, M. Trkov, Y. George, and B. Koohbor. "In-plane Density Gradation of Shoe Midsoles for Optimal Energy Absorption Performance," Part P: Journal of Sports Engineering and Technology, 2024, https://doi.org/10.1177/17543371241272843.

5. J. Knospler†, W. Xue, M. Trkov, “Reconfigurable Modular Soft Robots with Modulating Stiffness and Versatile Task Capabilities”, Smart Materials and Structures, Vol. 33, No. 6, p. 065040, 2024,  https://doi.org/10.1088/1361-665X/ad4d35.

6. V. Varma†, M. Trkov, “Investigation of Intersegmental Coordination Patterns in Human Walking,” Gait & Posture, Vol. 112, pp. 88-94, July 2024, https://doi.org/10.1016/j.gaitpost.2024.05.010

7. V. Varma†, and M. Trkov, “Intersegmental coordination in human slip perturbation responses”, Journal of Biomechanics, Vol. 168, 2024, 112097, ISSN 0021-9290, https://doi.org/10.1016/j.jbiomech.2024.112097

8. Pagliocca, N. G.†, Trkov, M., and Koohbor, B., “Modular soft robotic actuators from flexible perforated sheets”, Advanced Engineering Materials, July 2023, https://doi.org/10.1002/adem.202300583. (Selected as a Cover Page Graphics for ADVENGMAT, Vol. 25 - No. 19, October 2023)

9. Trkov, M., Stevenson, D. T.‡, and Merryweather, A. S., “Classifying hazardous movements and loads during manual materials handling using accelerometers and instrumented insoles,” Applied Ergonomics, 101: 103693, May 2022, https://doi.org/10.1016/j.apergo.2022.103693.

10. Mihalec, M., Trkov, M., and Yi, J., “Balance recoverability and control of bipedal walkers with foot slip,” ASME J. Biomech. Eng., 144(5): 051012, Paper No: BIO-21-1265, 2022, https://doi.org/10.1115/1.4053098.

11. Chen, S., Stevenson, D. T.‡, Yu, S., Mioskowska, M.†, Yi, J., Su, H., and Trkov, M., "Wearable Knee Assistive Devices for Kneeling Tasks in Construction," IEEE/ASME Trans. on Mechatronics, vol. 26, no. 4, pp. 1989-1996, Aug. 2021, https://doi.org/10.1109/TMECH.2021.3081367.

12. Raeisinezhad, M.†, Pagliocca, N. G.†, Koohbor, B., and Trkov, M., “Design Optimization of a Pneumatic Soft Robotic Actuator Using Model-Based Optimization and Deep Reinforcement Learning,” Frontiers in Robotics and AI, 8, 107, 2021, https://doi.org/10.3389/frobt.2021.639102.

13. K. Z. Uddin, Y. George, M. Trkov, H. Seyyedhosseinzadeh, and B. Koohbor. "Gradient optimization of multi-layered density-graded foam laminates for footwear material design," J. Biomech., 109, 109950, 2020. https://doi.org/10.1016/j.jbiomech.2020.109950 

14. M. Trkov*, K. Chen*, and J. Yi, “Bipedal model and hybrid zero dynamics of human walking with foot slip,”ASME J. Comput. Nonlin. Dyn., 14(10): 101002, Paper No: CND-18-1356,  doi: 10.1115/1.4043360, 2019.  https://doi.org/10.1115/1.4043360

15. M. Trkov, K. Chen, J. Yi, and T. Liu, “Inertial sensor-based slip detection in human walking,” IEEE Trans. Autom. Sci. Eng., 16(3), pp. 1399 - 1411, 2019.    https://doi.org/10.1109/TASE.2018.2884723

16. H. Xiang*, M. Trkov*, K. Yu and J. Yi, “A stick-slip interactions model of soft-solid frictional contacts,” ASME J. Dyn. Sys. Meas. Control,141(4), pp. 041015, Paper No: DS-17-1556, doi: 10.1115/1.4042247.  https://doi.org/10.1115/1.4042247

17. J. Mortensen, M. Trkov, A. S. Merryweather, “Exploring novel objective functions for simulating muscle coactivation in the neck,”J. Biomech., 71, pp. 127-134, 2018. https://doi.org/10.1016/j.jbiomech.2018.01.030

18. M. Trkov, J. Yi, T. Liu, and K. Li, “Shoe-floor Interactions in human walking with slips: modeling and experiments,” ASME J. Biomech. Eng., vol. 140, no. 3, pp. 031005-1–031005-11, 2018.  https://doi.org/10.1115/1.4038251 

19. S. Giavazzi, M. F. Ganatea, M. Trkov, P. Sustarsic, T. Rodic, “Inverse determination of viscoelastic properties of human fingertip skin,” Materials and Geoenvironment, 57:1–16, 2010.

Book chapters:

1. A. S. Merryweather, M. Trkov, and K. Gubler, Chapter 29: “Surface transitions and stair climbing and descent”, Book Title: “Digital Human Modelling and Posturography”, Editors: Sofia Scataglini and Gunther Paul, Elsevier S&T Books, 2019, in press

Peer-reviewed conference publications:

1. J. Knospler†, N. G. Pagliocca†, W. Xue, M. Trkov, “Realizing Modular Self-reconfiguring Soft Robots through Inter-module Communication and Model Checking”, in Proc. IEEE - RAS Int. Conf. on Soft Robotics (RoboSoft), Lausanne, Switzerland, Apr. 23-26, 2025.

2. N. G. Pagliocca†, B. Koohbor, and M. Trkov, “Multiscale Data-driven Models for Soft Robots Based on Local Strain Fields”, in Proc. IEEE - RAS Int. Conf. on Soft Robotics (RoboSoft), Lausanne, Switzerland, Apr. 23-26, 2025.

3. V. Varma†, S. N. Patel‡, N. P. Wilson‡, M. Trkov, “Characterization of Hip Abduction Exoskeleton for Assistance During Gait Perturbations,” in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech. (AIM), Boston, MA, Jul. 15-18, 2024, pp. 70-75.

4. P. Twomey†, Z. Bravo‡, M. Trkov, “Mechatronic Design of a Thigh-Buttock Analogue and Instrumented Soft Pad for Pressure Injury Prevention” in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech. (AIM), Boston, MA, Jul. 15-18, 2024, pp. 315-320.

5. P. Twomey†, V. Varma†, M. Trkov, “Force, Humidity, and Temperature Estimation of a Multi-modal Soft Actuator for Human-Pad Interface” in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech. (AIM), Boston, MA, Jul. 15-18, 2024, pp. 1441-1446.

6. J. Knospler†, W. Xue, M. Trkov, “A Shared Electrical-Pneumatic and Reversible Locking Intermodule Connector for Modular Robots,” in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech. (AIM), Boston, MA, Jul. 15-18, 2024, pp. 160-165.

7. J. Knospler†, W. Xue, M. Trkov, “MagBot: Reconfigurable Modular Soft Pneumatic Actuators with Tunable Magnetic Connection Mechanism,” in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech. (AIM), Boston, MA, Jul. 15-18, 2024, pp. 1284-1289.

8. M. D. Longstreth‡, V. N. Sambucci‡, A. T. Siniscalco‡, S. Bakrania, M. Trkov, C. S. E. Jamison, W. Xue, “BYOE: Soft Robotic Fish Project,” in Proc. ASEE Annual Conf. & Expo., Portland, OR, Jun. 23 – 26, 2024, DOI: 10.18260/1-2—48437, https://peer.asee.org/48437.

9. W. Y. Heil-Heintz‡, J. J. Wojcicki‡, M. Trkov, W. Xue, S. Bakrania, C. S. E. Jamison, “BYOE: Wacky-Waving-Non-Inflatable-Arm-Flailing-Tube-Man,” in Proc. ASEE Annual Conf. & Expo., Portland, OR, Jun. 23 – 26, 2024, DOI: 10.18260/1-2—48438, https://peer.asee.org/48438.

10. J. R. Midiri‡, K. N. Trieu‡, W. Xue, M. Trkov, C. S. E. Jamison, S. Bakrania, “BYOE: McKibben Creature - A Low-Cost Robotic Simulation of A Biological Environment,” in Proc. ASEE Annual Conf. & Expo., Portland, OR, Jun. 23 – 26, 2024, DOI: 10.18260/1-2--48435, https://peer.asee.org/48435.

11. C. S. E. Jamison, S. Bakrania, M. Trkov, W. Xue, “WIP: A Model for Building Soft Robotics Knowledge and Interest: Student-Generated Learning Demonstrations,” in Proc. ASEE Annual Conf. & Expo., Portland, OR, Jun. 23 – 26, 2024, DOI: 10.18260/1-2--48284, https://peer.asee.org/48284.

12. B. Wechter†, N. Gushue‡, L. Reilly‡, M. Rutka‡, R. Kennedy‡, J. Mahon, W. Xue, M. Trkov, “Cost-Effective Soft Actuators Using Nafion and Carbon Nanotube Electrodes,” in Proc. ASME Int. Mech. Eng. Congress Expo. (IMECE), Columbus, OH, Oct. 30 – Nov. 3, 2022, Paper IMECE2022-95669. (2022 ASME IMECE Best Paper Award from MEMS Division & Track 13 Micro-and Nano-Systems Engineering and Packaging)

13. D. Stevenson‡, C. Ellouzi†, and M. Trkov, “Trip Detection and Foot Placement Estimator-Based Recovery Assistance Controller to Prevent Trip-Induced Falls,” in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech. (AIM), (virtual) Sapporo, Japan, Jul. 11-15, 2022.    

14. S. Chen, Y. Yu, C. Di, D. T. Stevenson‡, M. Trkov, J. Gong, and J. Yi, "Postural balance of kneeling gaits on inclined and elevated surface for construction workers", in Proc. IEEE Int. Conf. Autom. Sci. Eng. (CASE), Lyon, France, Aug. 23-27, 2021.

15. S. Chen, S. S. Bangaru, T. Yigit, M. Trkov, C. Wang and J. Yi, "Real-Time Walking Gait Estimation for Construction Workers using a Single Wearable Inertial Measurement Unit (IMU)," in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech. (AIM), 2021, pp. 753-758, doi: 10.1109/AIM46487.2021.9517592.

16. M. Mihalec, M. Trkov, and J. Yi, “Recoverability-based optimal control for a bipedal walking model with foot slip,” submitted to the IEEE American Control Conf., New Orleans, LA, USA, 2021.

17. M. Raeisinezhad†, N. G. Pagliocca‡, B. Koohbor, and M. Trkov, “IntelliPad: Intelligent Soft Robotic Pad for Pressure Injury Prevention,” in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech., Boston, MA, 2020.

18. M. Mioskowska†, D. Stevenson‡, M. Onu‡, and M. Trkov, “Compressed Gas Actuated Knee Assistive Exoskeleton for Slip-Induced Fall Prevention During Human Walking,” in Proc. IEEE/ASME Int. Conf. Adv. Int. Mech., Boston, MA, 2020.

19. M. Mioskowska†, and M. Trkov, “Active knee assistance for prevention of slip-induced falls during human walking,” in Dynamic Walking conference, Hawley, PA, USA, 2020.

20. M.A. Schreiber, M. Trkov, and A. S. Merryweather, “Influence of frequency bands in EEG signal to predict user intent,” in Proc. 9th International IEEE/EMBS Conference on Neural Engineering (NER), San Francisco, CA, USA, 2019.

21. M. Trkov and A. S. Merryweather, “Estimation of carrying load during manual material handling,” in Proc. 20thWorld Congress of the Int.Ergonomic Association (IEA), Florence, Italy, 2018.

22. M. Trkov, S. Wu, K. Chen, J. Yi, T. Liu, and Q. Zhao, “Design and characterization of a robotic knee assistive device (ROKAD) for slip-induced fall prevention during walking,” in Proc. 20thWorld Congress of the Int. Fed. Autom. Control (IFAC),Toulouse, France, 2017.

23. Y. Abe, K. Chen, M. Trkov,J. Yi, and S. Katsura, “Disturbance observer-based balance control of robotic biped walkers under slip,” in Proc.IEEE Int. Conf. Adv. Int. Mech., Munich, Germany, 2017. 

24. Y. Abe, K. Chen, M. Trkov,J. Yi, and S. Katsura, “Disturbance observer based HZD control of biped walking and slip recovery,” in Dynamic Walking, Mariehamn, Finland, 2017.

25. K. Chen, M. Trkovand J. Yi, “Hybrid zero dynamics of human biped walking with foot slip,” in Proc.IEEE American Control Conf., Seattle, WA, 2017.

26. M. Trkov, K. Chen, and J. Yi, “Slip detection and fall prevention system for human walking with foot slip,” in Dynamic Walking, Holly, MI, 2016.

27. K. Chen, M. Trkov, S. Chen and J. Yi, “Balance recovery control of human walking with slips,” in Proc. IEEE American Control Conf., Boston, MA, 2016.

28. M. Trkov, H. Han, J. Yi, and Y. Liu, “Stick-slip interactions of the soft-solid contact: an integrated LuGre/beam network model,” ASME Dyn. Syst. Control Conf., Columbus, OH, 2015.

29. M. Trkov, K. Chen, J. Yi, and T. Liu, “Slip detection and prediction in human walking using only wearable inertial measurement units (IMUs),” in Proc.IEEE Int. Conf. Adv. Int. Mech., Busan, Korea, 2015.  (AIM’15 Best Student Paper Award)

30. K. Chen, M. Trkov, J. Yi, Y. Zhang, T. Liu, and D. Song, “A robotic bipedal model for human walking with slips,” in Proc. IEEE Int. Conf. Robot. Autom., Seattle, WA, 2015.

31. M. Trkov, J. Yi, T. Liu, and K. Li, “Shoe-floor interactions during human slip and fall: Modeling and experiments,” in Proc. ASME Dyn. Syst. Control Conf., San Antonio, TX, 2014, Paper DSCC2014-6184.

32. F. Liu, M. Trkov, J. Yi, and N. Gucunski, "Modeling of pure percussive drilling for autonomous robotic bridge decks rehabilitation," in Proc. IEEE Int. Conf. Autom. Sci. Eng., Madison, WI, 2013.

33. Y. Zhang, F. Liu, M. Trkov, and J. Yi, "Rider/bicycle pose estimation with IMU/seat force measurements." in Proc. IEEE Adv. Int. Mech., pp. 604-609, 2012. (AIM’12 Best Student Paper Award) 

34. M. Trkov, F. Liu, J. Yi, and H. Baruh, "Study of concrete drilling for automated non-destructive evaluation and rehabilitation system for bridge decks."  Proc. SPIE 7983, Nondestructive Characterization for Composite Materials, Aerospace Engineering, Civil Infrastructure, and Homeland Security 2011, 798307.

Symposiums/Posters/Abstracts:

1. N. G. Pagliocca†, M.  Trkov, G. Youssef, B. Koohbor, “Generalized Constitutive Models for Hyperelastic Materials Using System Identification”, 2025 Society for Experimental Mechanics (SEM) Annual Conference and Exposition, Milwaukee, Wisconsin, USA, June 2 – 5, 2025.

2. C. Jamison, S. Bakrania, M. Trkov, W. Xue, “Transforming Soft Robotics Education through Integrated Undergraduate Research”, NSF IUSE Summit in Washington, DC, June 16-18, 2024.

3. M. Trkov, "The Lessons Learned and Experienced Gained Navigating (Graduate) Student life as a Dad and Mentoring a First-Generation Graduate Student", First-Generation Symposium, 2023.

4. B. Koohbor, N. Pagliocca†, M. Trkov, and G. Youssef, “Perforated Auxetic Planar Structures: Multiscale Mechanics and Applications in Soft Robotic Actuators", Society of Engineering Science (SES) 2022 Annual Technical Meeting, Texas A&M University in College Station, TX, October 16 - 19, 2022.

5. D. T. Stevenson‡, M. Trkov, and A. S. Merryweather, “Rapid Trip Detection Based on Dynamic Time Warping,” 20th Annual Regional National Occupational Research Agenda (NORA) Young/New Investigators Symposium, (hybrid) Salt Lake City, Utah, April 21-22, 2022.

6. C. Ellouzi†, and M. Trkov, “Fast Trip Detection Using Continuous Wavelet Transform,” in Dynamic Walking, Episode 1 (Bio)Mechanics, virtual conference, May 20, 2021.

7. C. Ellouzi†, and M. Trkov, “Rapid Trip Detection Based on Dynamic Time Warping,” 19th Annual Regional National Occupational Research Agenda (NORA) Young/New Investigators Symposium, (virtual) Salt Lake City, Utah, April 2021. (Best podium presentation award)

8. C. Ellouzi†, D. T. Stevenson‡, and M. Trkov, “Rapid trip detection based on trunk kinematic measurements,” (virtual) Rocky Mountain American Society of Biomechanics (RMASB) conference, (virtual) April 2, 2021.

9. K. Z. Uddin, G. Youssef, M. Trkov, B. Koohbor, “Midsole Performance Optimization by Designing Density Graded Foams,” Biomedical Engineering Society (BMES) Annual Meeting, Virtual Meeting (San Diego, CA), 14-17 October, 2020.

10. B. Wechter‡, K. Meglathery‡, M.O. Cesarano‡, R. Kallok‡, and M. Trkov, “Pulley-Assisted Actuation for Cable-Routed Soft Robots,” IEEE/ASME Int. Conf. Adv. Int. Mech. (Undergraduate Student Design Competition), Boston, MA, 2020.

11. M. Mioskowska†, and M. Trkov, “Wearable Assistive Device for Active Slip-Induced Fall Prevention during Human Walking,” 18th Annual Regional National Occupational Research Agenda (NORA) Young/New Investigators Symposium, Salt Lake City, Utah, 2020.

12. M. Trkov, and A. S. Merryweather, “Using machine learning approach to classify lifting tasks from instrumented insole measurements,”17thAnnual Regional National Occupational Research Agenda (NORA) Young/New Investigators Symposium, Salt Lake City, Utah, 2019. 

13. J. Mortensen, M. Trkov, and A. S. Merryweather, “Improved ergonomic risk factor assessment using OpenSim and inertial measurement units,” in Proc. 3rdIEEE/ACM Int. Conf. on Connected Health: Applications, Systems and Engineering(CHASE), Washington, D. C., 2018.

14. M. Trkov, E. Van Wagoner, and A. S. Merryweather, “Real-time Monitoring of Injury Risk During Manual Material Handling Using Wearable Sensors,”16thAnnual Regional National Occupational Research Agenda (NORA) Young/New Investigators Symposium, Salt Lake City, Utah, 2018. 

15. M. Trkov, and J. Yi, “Slip detection and fall prevention system during human walking,”15thAnnual Regional National Occupational Research Agenda (NORA) Young/New Investigators Symposium, Salt Lake City, UT, 2017.