Hysteresis dynamic model of metal rubber based on higher-order nonlinear friction (HNF)

•A high-order nonlinear friction (HNF) model was proposed for the first time according to the inclination angle and contact form of the spatial distribution of metal wires in MR.•The HNF hysteresis dynamic model was constructed from which the NHF was the influence factor to adapt to the change of process parameters of metal rubber.•The probability function of three contact forms was constructed from the estimated parameters. And the transferred probability of three contact forms was analyzed under a harmonic excitation with 10 Hz.