This paper presents a new design of an electro-rheological (ER) fluid-based haptic master device that is used for a minimally invasive surgery (MIS). This device consists of a bi-directional ER clutch/brake and an ER brake from which a repulsive force is realized. First, the modeling of these clutches/brakes is conducted. In addition, to transmit a complex rotation from the handle of the device to three independently rotary movements, a gimbal mechanism is adopted. At last, in order to evaluate the repulsive forces generated from the device, an experimental test is undertaken.