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This study aimed to test the friction coefficient of cryogenic bearing lubrication materials. A ball-on-disc type friction tester was developed in our lab using air bearings that could simulate the movement of cryogenic bearings under sliding-rolling contact. The tester is equipped with a temperature-controlled chamber to provide a minimum −175 °C low-temperature environment. Using air bearings is an important technique to reduce the base friction of the tester measurement system and ensure the accuracy of the friction coefficient measurement. The friction coefficients of the Ag coating and the PTFE coating were measured at different sliding-rolling velocities on this tester, and the results showed that the friction coefficient curves agreed well with the Gupta sliding model. The developed tester will provide important data for the dynamic analysis and life evaluation of the cryogenic bearings.