Friction dampers dissipate seismic energy through sliding but lack self-sensing capability. This study integrates friction dampers with triboelectric nanogenerators (TENGs), which convert mechanical energy into electrical signals, creating a self-sensing damper. Using friction pairs with large triboelectric differences, the system simultaneously achieves energy dissipation and sensing. During sliding, mechanical energy is partially converted into heat (dissipation) and electricity (sensing). Theoretical models link displacement and velocity to voltage and current, validated through cyclic loading tests varying velocity, displacement, and friction force. Results show stable energy dissipation (300-770 J/cycle) comparable to conventional dampers. Sensing performance is strong: voltage correlates linearly with displacement (0.00526 V/mm, R² = 0.94), and current with velocity (0.01914 μA/(mm/s), R² > 0.99). Unlike conventional TENGs, high friction alters triboelectric behavior via wear and heating, producing a unique voltage-velocity relationship. Scanning electron microscopy analysis confirms maximum wear at 34.2 kN, aligning with inflection points in electrical response. An empirical Q-V-f formula for high-friction conditions enriches triboelectric theory and guides damper design, emphasizing friction optimization for balanced dissipation and sensing stability.