Novel mechanisms for Energy Recovery Devices are proposed to diminish the pressure loss in the high-pressure reverse-osmosis system. In the beginning, the state-of-the-art in the design of Energy Recovery Devices is reviewed and the features of each model are investigated. The direct-coupled axial piston pump(APP) and axial piston motor(APM) showed 39% energy recovery at operating pressure of reverse osmosis desalination systems, 60 bar. Meanwhile, the developed PM2D model, in which APM pistons are arranged parallel to those of APP, is more compact and showed higher efficiency in a preliminary test. Loss-reduction mechanisms employing rod piston and double raw valve port are additionally proposed to enhance the efficiency and durability of the device.