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A transmission with both high comfort and high efficiency is the automated manual transmission (AMT). To be able to control and fully utilize this type of transmission it is of great importance to have knowledge about the torque transmissibility curve of the clutch. The transmitted torque in a slipping dry clutch is therefore studied in experiments with a heavy duty truck (HDT). It is shown that the torque characteristic has little or no dependence on the slip speed, but that there are two dynamic effects that make the torque vary up to 900 Nm for the same clutch actuator position. Material expansion with temperature can explain both phenomena, and a dynamic clutch temperature model that can describe the dynamic torque variations is used. The dynamic model is validated in experiments, and it is shown to reduce the error in a transmitted torque from 7% to 3% of the maximum engine torque compared to a static model …