Staircase with instrumented steps with lifting actuator for assisted ascent or descent

A system for assisted ascent or descent, comprising:

• a staircase comprising at least one instrumented mobile step, provided with at least one sensor for measuring a center of pressure of a user and at least one lifting actuator capable of raising or lowering the step according to a vertical degree of freedom;
• a calculation unit connected to the sensor for measuring the center of pressure and the lifting actuator, the calculation unit being configured to calculate at least a position, a speed of movement and an acceleration of the user on the basis of the center of pressure measured by the sensor and, as a function of the calculated values, control the lifting actuator;
• the system further comprising at least one sensor for measuring a center of mass connected to the calculation unit, said unit further being configured to compare the measurement of the center of mass of the user to the measurement of the center of pressure, deduce therefrom whether the user is imbalanced and, as a function of this comparison, control the lifting actuator.