I concur with Jim. If the hiking is easy, I stow my poles and trek on. I also like to take lots of pictures and poles are a hindrance to that. I find poles help me the most on the downhills in relieving the pressure on my knees and ankles.

I carry a 3/4 - 1 inch diameter bamboo staff that is my height. I glued on a pvc cap to the end to keep if from splitting and wrapped one layer of duct tape up the first section of the top and bottom for reinforcement. I've found this to be a great alternative to wooden staffs and/or hiking poles. It does provide that leverage that Jim mentions.

I do have other wooden staffs that I have made that are more decorative and are more works of art than utilitarian. Living where I do, I have plenty of available material for practice.
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If you think you can, you can. If you think you can't, you can't. Either way, you're right.