We use a custom built microscope to study the stepping mechanics of kinesin motors. We implemented high-end components in order to resolve single displacements of the motors catalytic domains. We can thus measure the step size and dwell times characteristic for motor stepping. With this data we found, that kinesin motors step differently on microtubules and axonemes in cilia (see Intraflagellar Transport). We could further show, that the intrinsic property to take steps to the left enables efficient cargo transport during IFT.