A damping device (1) for a prosthesis, comprising a first member (2) for connection to a first component, a second member (3) for connection to another component, and a means (4) for coupling together the first member and the second member and for relative displacement of the first member and the second member. A damping element (5) is arranged to counteract a relative displacement between the first member (2) and the second member (3) when loading the damping device (1). The coupling means 4 comprises at least two linkage arms (6, 7), both being pivotally arranged in relation to the first member (2) and the second member (3). The linkage arms (6, 7) are arranged at different positions with respect to a main damping direction (8) of the damping device for substantially maintaining the relative orientations of the first member (2) and the second member (3) when the first member and the second member are displaced in relation to each other, during pivoting of the linkage arms (6, 7) and exertion of influence on the damping element (5).