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You want to use Process Builder for this purpose.
You can select the Knowledge object and check for changes in the LastModifiedDate field. If it is changed, you can send an email notification.
For more information about the Process Builder, check these resources:
https://help.salesforce.com/HTViewHelpDoc?id=process_overview.htm
https://www.youtube.com/watch?v=APiJg7908jk
https://developer.salesforce.com/page/Lightning_Process_Builder
https://developer.salesforce.com/trailhead/en/business_process_automation/process_builder
Hope this helps!
Best regards,
Martijn Schwärzer