Epoxy resins represent an important class of thermosetting polymers that are extensively used in demanding applications like in scratch resistant coatings. Usually fillers, either hard (inorganic) or soft (rubbery), are added. Here we test hard and soft particle-filled epoxy systems in single asperity sliding friction experiments, and analyze the results with the hybrid numerical-experimental approach presented earlier. The focus is on the detailed modeling of the local deformation processes and it is confirmed that a rate-independent friction model proves appropriate to quantitatively model this complex process. The constitutive framework developed for amorphous thermoplastic polymers adequately describes also these thermoset systems. The ...