Objective To establish the three-dimensional (3D) and biomechanical model of lower limb for kinematics and dynamics analysis, and construct the control platform of lower limb for providing theoretical basis for the design of active transfemoral prosthesis and lower limb exoskeleton orthosis. Methods Motion information of the hip joint, knee joint and ankle joint was collected by VICON 3D motion capture system. The 3D model of lower limb was designed by Solidworks for kinematics analysis. Based on SimMechanics in Matlab toolbox, the biomechanical model of lower limb was built to analyze dynamics of lower limb. Based on hardware-in-the-loop simulation platform of Quanser, the control model was constructed to receive control signal from SimMechanics and realize the control of lower limb motion platform. Results The velocity, acceleration and moment of force in each joint were obtained through kinematics and dynamics simulation. The established model of lower limb was validated by simulation, and the simulation signal was used to control the lower limbs motion platform to and realize the function of level walking. Conclusions The platform can be used for the research on kinematics, dynamics and control of lower limb, which has paved way for further investigation on the control of active transfemoral prosthesis and lower limb exoskeleton orthosis.