Is this your home, or are you fixing up your parent's home so they can continue to live there independently? If it is the latter I would encourage you to consider that once you feel the need to adapt their home it is probably time for them to seriously consider downsizing and moving to a more senior friendly environment. If the thought is scary and overwhelming now imagine how much more so it will be later, especially if forced to make changes in a hurry due to a sudden change in health.
My house has ramps, transition pieces where the the floors are uneven, removing all movable rugs and mats or trip hazards, grab bars in the shower as well as a seat, toilet lifts, more room for walkers so she can turn around safely and not bump into things, and safety locks on doors so she can't reach to open it. Not sure what kind of safety you are looking for whether its your home or their home or what state your parents are in to make sure they are safe.
Occupational therapists come through homes and help suggest ideas on what would help them better get around. When we lived in CT they were awesome getting us started on things to help and what to remove. They walked around with her and suggested places to put grab bars, removing furniture that was unnecessary and better placed somewhere else, removing moving rugs, even going as far as to help us place transitional pieces and wall bumpers so her walker wouldn't ruin the wood as she walked banging against it. They suggested lift chairs and a bed rail to help her in transitioning (and eventually helped us to get a hospital bed which she doesn't even use but its there for when she finally does need it) and even helped us know where to find such things. They even worked with her to show her how to use the equipment which was huge to me. Doctors can help write out scripts to help pay for important medical equipment, some places have free equipment handouts and others have discounted to help with the cost of upgrading a house for elders. Resources are usually out there as long as you know where to look.
https://www.agingcare.com/articles/how-to-adapt-your-home-when-parent-moves-in-123288.htm
Occupational therapists come through homes and help suggest ideas on what would help them better get around. When we lived in CT they were awesome getting us started on things to help and what to remove. They walked around with her and suggested places to put grab bars, removing furniture that was unnecessary and better placed somewhere else, removing moving rugs, even going as far as to help us place transitional pieces and wall bumpers so her walker wouldn't ruin the wood as she walked banging against it. They suggested lift chairs and a bed rail to help her in transitioning (and eventually helped us to get a hospital bed which she doesn't even use but its there for when she finally does need it) and even helped us know where to find such things. They even worked with her to show her how to use the equipment which was huge to me. Doctors can help write out scripts to help pay for important medical equipment, some places have free equipment handouts and others have discounted to help with the cost of upgrading a house for elders. Resources are usually out there as long as you know where to look.