The present invention discloses a magnetorheological force transmission device which comprises at least two solid body parts adapted to be moved in a substantially translational manner against each other, and an MRF gap, which is at least partially fillable and/or filled with a magnetorheological material 2MRF, the MRF gap being arranged at least partially inside one of or both of the two parts and/or being arranged at least partially in-between the two parts, and which is characterized in that the magnetic circuit system of the magnetorheological force transmission device being designed and/or disposed to generate a magnetic flux within at least part of the MRF gap comprises at least one electromagnet, at least one permanent magnet and at least one magnetic-field-balancing insert and/or magnetic isolator.