Haptic force feedback can be summarized as a system that provides a sense of feeling and the application of forces by a computer to a user. This type of feedback system was developed as a glove or master format in order to provide forces at the fingertips. As a core to the device, passive actuators were developed using magnetorheological fluid (MRF) and a novelexoskeleton mechanical power transmission system was designed utilizing rapid prototype parts. The fluid is a smart material that has the property of changing its viscosity when exposed to a magnetic field. By varying the intensity of electromagnets embedded within the fluid based actuators, the resistive forces of the actuators can be dynamically set. The entire system is lightweight, low power and easily portable. A completed system was tested to evaluate the usability of the device

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