Abstract: With the development of intelligent control algorithm and electronic technology, it becomes an important research direction in domestic and international studies to develop the dynamic ankle-foot prosthesis for the lower leg amputees. In order to achieve this goal, we designed a kind of hybrid model of ankle joint prosthesis which was emulated by Adams and got humanoid ankle angle and angle velocity curves in human walking. This paper designed the first generation of hybrid powered ankle-foot prosthetic prototype, combining active and passive actuators is designed which is combined with the existing research base and experimental conditions and based on the biomechanics characteristics of ankle in the human gait cycle to meet the demand of the movement of the shank amputees. The mechanical structure of prosthesis includes series elastic actuator, parallel spring mechanism, synchronous belt, lead screw drive system and direct current servo motor. Through analysis of the bionic movement of prototype and the build of prototype kinematic model, this paper proposes a servo system with hybrid angle/torque control based on the finite state machine. The kinematics analysis of prosthesis is carried out to meet the functions of ankle in working. And finite state machine control algorithm is used in different stages in gait cycle by different control methods. It uses matrix laboratory simulation of the prosthetic movement and the angle control experiment with the PID and fuzzy PID control algorithms. The result shows that the movement of ankle joint prosthesis can be similar to the ankle angles-moment curve of the human body, and the curve of fuzzy PID control algorithm's output is closer to the human body characteristics, which verifies the rationality of the design and the feasibility of control scheme. The research can provide foundation for the application of prototype.