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Abstract In this paper, the nonlinear response of indenter–foam dampers is characterized. Those dampers consist of indenters pressed on open-cell foams swollen with wetting liquids. Recently, the authors identified the dominant mechanism of damping in those dampers as poro-viscoelastic (PVE) relaxations as in articular cartilage, one of nature’s best solutions to vibration attenuation. Those previous works by the authors included dynamic mechanical analyses of the indenter–foam dampers under small vibrations, i.e., linear regime. The current study features the dynamic response of similar dampers under larger strains to investigate the nonlinear regime. In particular, the indenter–foam dampers tested in this paper consist of an open-cell polyurethane foam swollen with castor oil. Harmonic displacements are applied on the swollen and pre-compressed foam using a flat-ended cylindrical indenter. Measured forces and corresponding hysteresis (force–displacement) loops are then analyzed to quantify damping performance (via specific damping capacity) and nonlinearities (via harmonic ratio). The effects of strain and strain rates on the damping capacity and harmonic ratio are investigated experimentally. The dominant source of the nonlinearity is identified as peeling at the indenter–foam interface (and quantified via peeling index). A representative model consisting of a linear viscoelastic foam and rate-dependent adhesive interface (slider element with limiting adhesive strength) explains the observed trends in peeling and thus nonlinear dynamic response. Possible remedies to suppress those nonlinearities in future designs of indenter–foam dampers are also discussed.