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I want to find some kind of carpet or mesh that could come underneath or on the stairs (if is a thin carpet - but the preference is to have it underneath) for stairs with gaps like this:
(Picture from EleveStairs example stairs.) Or do you know other solution for this?
Edit: the additional requirement of 'child safety' invalidates this answer. Fabric fastened at one end does not make the stairs safer.
If your requirement is cosmetic only: Carpet or fabric can be used on its own, but you'd have to fasten it on one side only: attach it to the bottom of each step, and leave the other end free. When you walk up the stairs, sometimes you'll bump into the carpet/fabric. When you attach the fabric on both ends, your foot'll push out the fabric and cause it to tear around its fasteners.
If you want a solution that's rigid, you'll have to place a wooden board in each gap, thick enough to withstand the occasional kick.
For a removable solution, I'd use cloth. The type of fabric used for curtains would be a good option. Apply a strip of velcro to one edge of the cloth, glue the other half of the velcro underneath each step.
In the professional audio/video/stage production world, cloth skirts are used for a similar purpose: these are applied e.g. to the edge of a temporary stage to hide the underside of the stage from view.
To child-proof the stairs, the standard solution is to install a baby gate at the top and bottom of the stairs. By the time the toddler can walk up/down the stairs, he/she will be big enough not to fit between the steps.
If you wanted to maintain the aesthetic of the stairs you could always put acrylic (lexan, plexi glass) sheets between a given stair and the riser for the next stair with some semi permanent method of attachment.
