I am not going to add any words to this infographic except to say that the invention of stirrups is a debatable topic. You’ll see different theories but the theory promulgated in the infographic is suggested by Dr Desmond Morris in his book Horse Watching. I find him very trustworthy.
Who invented stirrups? Infographic by MikeB at PoC. Source Dr Desmond Morris (Horse Watching). Click on the image to see it larger if you wish.