Siman 522

A blind person may not go out with his staff, when he is able to walk without a staff, in a place where it is forbidden to carry out on Shabbat; nor a shepherd with his pouch. And even though there is no prohibition of carrying on Yom Tov, nevertheless, in this case it is like a weekday activity. However, in a place where carrying is permitted, such as in a courtyard or in a city with an eruv – it does not appear like a weekday activity. And a person with a limp is also thus: if he is able to walk without a staff – it is forbidden for him to walk with a staff in a reshut harabim or in a karmelit. And if he is unable – it is permitted. See above, siman 301, regarding the matter of Shabbat.

And one may not go out in a chair, whether a man or a woman—that is, where one sits in a chair and people carry him in the chair—due to it being a weekday activity, unless he is unable to walk in any other manner. And a man whom the public needs is permitted, even if he is able to walk but it is difficult for him, because of the pressure of the community, or if he is an elder and walking is a burden for him. And they may carry him even on the shoulder, where each one places his hand on the shoulder of his fellow and the chair is upon them, which is more of a weekday activity. And even in a palanquin like a canopy, for a man whom the public needs, they permitted. (See in the Tur, and in the Taz, and in the Magen Avraham. And now this is not common at all, and there is no need to elaborate on this.) And one whose leg tendons have contracted may go out with a staff. But one may not lead an animal with a staff. And this is not due to the reason of muktzeh, for even with a staff prepared from yesterday for this purpose it is forbidden. For the reason is because it appears as if he is leading it to the market to sell it, as they lead in this manner then.