The disability of lower limbs is one of the major problems facing human lives. In order to restore the missing functionality and aesthetic feature of the amputee's locomotion, finding the optimal design of the human lower limb knee prosthesis is crucial. This paper focuses the design optimization of a four bar knee mechanism capable to reproduce the complex flexion/extension knee joint motion in the sagittal plane with variable instantaneous center of rotation positions. Thus an optimization approach with appropriate constraints is formulated in order to consider the degree of compatibility between the instantaneous center of rotation trajectories of the human reference knee joint and the four bar knee mechanism. To solve this high nonlinear optimization problem, an algorithm based on multi-objective modified imperialist competitive method is proposed where all the constraints are managed with the penalty method. The results obtained by the multi-objective modified imperialist competitive method showed the capability to reach a small tracking error. The obtained results prove the effectiveness of the proposed optimization approach for the optimal synthesis of the four bar knee mechanism, compared with other literature techniques.