Force sense feedback device made from magnetorheological fluid double rotors and using method of force sense feedback device

The invention discloses a force sense feedback device made from magnetorheological fluid double rotors and a using method of the force sense feedback device. The force sense feedback device made fromthe magnetorheological fluid and the double rotors comprises a force sense simulation system, a force sense control system, a force sense generating system, a reversing system and a power supply system. According to the force sense feedback device made from the magnetorheological fluid the double rotors, a gear of a planetary wheel type reversing mechanism adopts an ordinary straight gear form, machining is easy, and the process cost is saved; in addition, the axial distance of a planetary wheel system is less, the axial distance of the device is advantageously decreased, and the mounting space of the device is reduced; and moreover, additional force attached to the axial direction cannot be generated in the torque transmitting process by a planetary wheel, the double sets of rotors cannotbear axial thrust, and th