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This paper addresses the study and design of a miniature linear actuator using magnetorheological fluid. A short introduction on how these fluids can change their apparent viscosity when subjected to a magnetic field is presented. Initially used in heavy mechanical engineering, the target of the present research is to go towards their integration in human prosthetics and haptic devices. The body of the paper focuses on the actuator, which is aimed to be embedded in a fully portable force feedback glove capable of recreating haptic feelings. Its design is obtained using an analytical model, coupled with finite element modeling for validation. A prototype is finally manufactured and measurements are provided for further validation.