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Step-free access to tube stations is something that TfL and Sadiq Khan take very seriously. As of March 2018 there are 73 stations on the network with step-free access, and the aim is to make another 13 stations step-free by Spring 2022.
However, there are plenty of stations that don't quite qualify as step-free, but are still usable for those who can't handle stairs, be that for disability or health reasons, travelling with buggies or luggage, or just a prejudice against steps. The precise details of which stations you can avoid stairs at are far too complex to fit on the normal tube map, which is why the Avoiding Stairs Tube Guide exists.
The map uses a plethora of multicoloured rings to explain just how step-free each station is. It details which stations are only step-free in one direction (surprisingly quite a few), which ones have level access, where you can change between lines without using stairs, and even mentions which stations are accessible using only a small number of steps.