He rushed for 493 yards and three touchdowns last season while backing up NFL Offensive Rookie of the Year running back Eddie Lacy.
Starks is a 6-foot-2, 218-pound power back who averaged 5.5 yards per carry last season.
For his career, Starks has rushed for 1,427 yards on 322 carries with five touchdowns.
The Steelers could use a backup behind LeVeon Bell.
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Aaron Wilson covers the Ravens for The Baltimore Sun