Force feedback is a crucial component in haptic applications to provide users with physical sensations, such as vibrations or resistance in virtual reality, sense of touch in medical training, remote operations and robotics. In this research, a new magneto-rheological fluid-based brake is proposed for force feedback applications. The brake incorporates tooth-shaped magneto-rheological fluid channel and multiple coils positioned on the end covers to improve the performance of torque and power consumption. By changing the applied magnetic field strength, the generated torque of the brake can be controlled effectively at different levels for the desired feedback. Firstly, an overview of magneto-rheological brake configurations is implemented and the multi-coil tooth-shaped magneto-rheological brake is configured. The proposed magneto-rheological brake is then mathematically modeled and structurally optimized, considering the design criteria such as feedback torque, power consumption, and installability. The detailed design of the optimal magneto-rheological brake is developed based on the acquired solutions, and a prototype is fabricated accordingly. Finally, experiments are conducted to evaluate the performance of the magneto-rheological brake, accompanied by comprehensive discussions.