This paper proposes a new brake featuring magneto-rheological (MR) fluid. The outstanding feature of the proposed MR brake is the possibility of compensating for the passive friction completely. It consists of two coils, one quasi-stator and two rotors. These rotors are in relatively reverse rotation mode. After a configuration of this brake is proposed, an optimization procedure based on integrated finite element analysis (FEA) and Particle Swarm Optimization (PSO) algorithm is developed to obtain its geometric dimensions. Then, the simulated performance of the optimized brake is shown with remarkable discussions.