Our vision in this paper is that agency, as the individual ability to intervene and tailor the system, is a crucial element in building trust in IoT technologies. Following up on this vision, we will first address the issue of agency, namely the individual capability to adopt free decisions, as a relevant driver in building trusted human-IoT relations, and how agency should be embedded in digital systems. Then we present the main challenges posed by existing approaches to implement this vision. We show then our proposal for a model-based approach that realizes the agency concept, including a prototype implementation.