diff --git a/CHANGELOG.md b/CHANGELOG.md
index be78d0638d..d91d865c7f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -124,6 +124,9 @@ The following errors are currently check:
 ### Changed
 - No warning is printed if a sensor not supported by iDynTree is found in an URDF file (https://github.com/robotology/idyntree/pull/997).
 
+### Fixed
+- Fix `iDynTreeWrappers.loadReducedModel` when `model_path` argument does not end in `\` (https://github.com/robotology/idyntree/pull/1126).
+
 ## [5.2.1] - 2022-05-19
 
 ### Fixed 
diff --git a/bindings/matlab/+iDynTreeWrappers/loadReducedModel.m b/bindings/matlab/+iDynTreeWrappers/loadReducedModel.m
index ef1c9329e6..66522b3c06 100644
--- a/bindings/matlab/+iDynTreeWrappers/loadReducedModel.m
+++ b/bindings/matlab/+iDynTreeWrappers/loadReducedModel.m
@@ -23,7 +23,7 @@
 % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-    disp(['[loadReducedModel]: loading the following model: ',[modelPath,modelName]]);
+    disp(['[loadReducedModel]: loading the following model: ',fullfile(modelPath,modelName)]);
         
     % if DEBUG option is set to TRUE, all the wrappers will be run in debug
     % mode. Wrappers concerning iDyntree simulator have their own debugger
@@ -44,7 +44,7 @@
     modelLoader            = iDynTree.ModelLoader();
     reducedModel           = modelLoader.model();
 
-    modelLoader.loadReducedModelFromFile([modelPath,modelName], jointList_idyntree);
+    modelLoader.loadReducedModelFromFile(fullfile(modelPath,modelName), jointList_idyntree);
 
     % get the number of degrees of freedom of the reduced model
     KinDynModel.NDOF       = reducedModel.getNrOfDOFs();
@@ -58,5 +58,5 @@
     % set the floating base link
     KinDynModel.kinDynComp.setFloatingBase(KinDynModel.BASE_LINK);
     
-    disp(['[loadReducedModel]: loaded model: ',[modelPath,modelName],', number of joints: ',num2str(KinDynModel.NDOF)]);
+    disp(['[loadReducedModel]: loaded model: ',fullfile(modelPath,modelName),', number of joints: ',num2str(KinDynModel.NDOF)]);
 end