In view of the problems of large volume and poor gait quality of the existing prosthesis products, a type of prosthesis knee joint with magnetorheological (MR) damper was designed by combining the four-bar mechanism and MR damper, and a virtual prototype model of the prosthesis knee joint was established based on the MR damper.A group of central pattern generators (CPG) with phase coupling relationship were used to plan the gait of the lower limb prosthesis, and the angle curves of each joint were obtained.To verify the rationality of the joint angle curve obtained, SolidWorks Motion was used to simulate the lower limb prosthesis.The simulation results show that the gait characteristics of the lower limb prosthesis have good anthropomorphism driven by the joint angle curve.