I use hiking staffs. I had access to a doweling machine, and the staffs I ended up with were 1 1/16 diameter, and 5' long.
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At no time are my forearms below 'horizontal' with the trail, and most of the time they are slightly up, allowing some continuous tension on the muscle group.
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These also allow me to slip the poles through my hands for the poles to rest on a lower surface than the one I am walking on, like I would be alongside a wash. I believe this is more advantageous than leaning over using trekking poles/

They are not, however, collapsible.