Contact-friction modeling within elastic beam assemblies: an application to knot tightening

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An isogeometric collocation method for frictionless contact of Cosserat rods (2017, methodology): “As in [1], two (almost) rigid bars are added to stabilize this process.”
Dynamic simulation of frictional contacts of thin beams during large overall motions via absolute nodal coordinate formulation (2014, unknown): “Taking the phenomena of predisplacement into account, the relative tangential displacement for a current step between any contact points P and Q of beam I and beam II can be expressed as a summation of an elastic part and a pure slip part [7,15] as follows”