I found this very interesting ahd helpful article on Physiopedia. A bit academic but I am sure it will be of use to some of you!
Please see the original article for many well-done and useful visual aids: https://www.physio-pedia.com/Stair_Gait
Introduction
Stair Gait
A fundamental body movement is required to ascend and descend stairs. It is important for everyday activities such as shopping, taking public transportation, or going about a multistory building or apartment. The variation between the two modes of locomotion(level-ground locomotion and stair locomotion) may be significant for a patient population.
If a patient has adequate muscle strength and joint ROM for level-ground walking, it does not ensure that the patient will be able to walk up and down stairs.
Biomechanics
Locomotion in the stair gait involves both swing and stance phases in which forward progression of the body is brought about by alternating movements of the lower extremities. The lower extremities must balance and carry along HAT(Head, arms and trunk), similar to level ground gait.The knee extensor moment in both stair ascent and descent was nearly three times greater than that of level ground walking. The ankle moments are almost similar in both gaits. The knee has generative role in stair ascent( absorptive in level walking). Powers are mostly generative in stair ascent and absorptive in descent for all joints.
The stair gait cycle is divided into:
A.Stance phase and
B.Swing phase.
Stance phase is subdivided into
Weight Acceptance
Pull up
Forward Continuance
Swing Phase is subdivided into
Foot Clearance
Foot Placement
Vast amount of positive work is involved in stair ascent that is accomplished mainly through concentric action of the rectus femoris, vastus lateralis, soleus, and medial gastrocnemius muscles.