  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 which are
inextensible, admitting only isometric motions. Inextensibility is imposed in a
continuous setting, prior to any discretization, which gives consistency with
respect to re-meshing 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 error between the
simulated and 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, as
compared to reality, description of cloth motion incorporating aerodynamic
effects by using only two parameters.
