Abstract: Disclosed herein are self-adjusting devices and systems for assistive ambulation and traversing of stairs. In one aspect, a disclosed assistive device encompasses a frame assembly including a first side frame connected with a second side frame, each side frame with first and second legs each having first and second opposed ends, and a gripping member connecting first ends of the first and second legs, the second ends of first and second legs having an extendable portion configured to allow selective adjustment of a leg length; and a leg adjustment system contained within a portion of each side frame configured to correspondingly lengthen one leg at a leg length adjustment ratio in response to shortening of another leg. In further aspects, the legs can releasably attach to a stabilizing component for stabilizing the device. Also disclosed herein are kits and methods for using the disclosed devices and systems.