A refinement of the Kummer friction model is considered to determine the friction coefficient through analysis of the mechanical properties of rubber compound materials. An experimental sets of trials was carried out with a linear friction tester evaluating the friction coefficient for CB filled SBR on an ideal sinusoidal substrate under lubricated conditions. Lubricated conditions were chosen to obtain the pure hysteresis contribution of the friction coefficient, eliminating the effect of adhesion. For finite element analysis (FEA) simulations a visco-hyperelastic material model is considered to estimate the actual strain level close to the contact area. Based on the proper analysis of the temperature and frequency dependence behavior of experimental model rubber compounds, master curves for the viscoelastic moduli are constructed. Dynamic data were selected based on the strain level evaluated by first FEA simulations, actual temperature, and excitation frequency of each experiment. The proposed refined friction model and the simulated friction coefficient from FEA based on the precise evaluation of the material property show good prediction within the ideal experimental conditions.