We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces that are inextensible, admitting only isometric motions. Inextensibility is derived in a continuous setting, prior to any discretization, which gives consistency with respect to remeshing and prevents the problem of locking even with coarse meshes. The simulations of robotic manipulation using the model are compared to the actual manipulation in the real world, finding that the difference between the simulated and the real position of each point in the garment is lower than 1cm in average even when a coarse mesh is used. Aerodynamic contributions to motion are incorporated to the model through the virtual uncoupling of the inertial and gravitational mass of the garment. This approach results in an accurate, when compared to the recorded dynamics of real textiles, description of cloth motion incorporating aerodynamic effects by using only two parameters.

我们引入了一种新的等距应变模型，用于研究中等压力环境中布料服装的动力学，例如人类附近的机器人操作。该模型将纺织品视为不可扩展的表面，仅允许等距运动。在任何离散化之前，在连续设置中导出不可扩展性，这提供了重新网格化的一致性，并防止即使使用粗网格也能防止锁定问题。使用该模型对机器人操纵的模拟与现实世界中的实际操纵进行比较，发现即使使用粗网格，服装中每个点的模拟位置与真实位置之间的差异平均小于1cm。通过服装的惯性质量和重力质量的虚拟解耦，空气动力学对运动的贡献被纳入模型。与记录的真实纺织品动态相比，这种方法仅使用两个参数就可以准确描述包含空气动力学效果的布料运动。