International audienceThis paper proposes a mathematical model of the walking with canes for an anthropomorphic biped with two identical legs with massless feet, two identical arms, and a torso. The walking is performed in the sagittal plane. The walking gait, which is cyclic, is composed of single support (SS) phases and impacts. The period of this cyclic walking is determined by the stride, because the motion of coupled arms is synchronized on this stride. The cane is considered massless. Thus in order to compare the walking with and without massless cane, the dynamic dynamic. Numerical tests show that the magnitude of the ground reaction in the stance foot is less with a massless-cane assistance than without one. Especially, the results prove that it is better to use canes with a handle
