Siman 522
Presented here for study, not as a practical ruling. The Shulchan Aruch rules by Sephardi custom, the Rema's glosses by Ashkenazi custom, and the Kitzur follows Ashkenazi custom. For a practical question, ask your rabbi.
א אֵין הַסוּמָא יוֹצֵא בְּמַקְלוֹ, וְלֹא הָרוֹעֶה בְּתַרְמִילוֹ, וְדִין חִגֵּר דִּינוֹ בְּיוֹם טוֹב כְּמוֹ בְּשַׁבָּת וְעַיֵּן לְעֵיל סִימָן ש"א (סָעִיף י"ז).
1 A few things that are forbidden to be carried on Yom Tov, and there are 4 Simanim: The blind man may not leave with his stick nor the shepherd with his sack (and the law of a disabled person is the same on a holiday as it is on Shabbat, see above chapter 301 paragraph 17).
ב אֵין יוֹצְאִין בְּכִסֵא, אֶחָד הָאִישׁ וְאֶחָד הָאִשָּׁה; וְאִישׁ שֶׁהָיוּ רַבִּים צְרִיכִים לוֹ, מֻתָּר, וּמוֹצִיאִין אוֹתוֹ עַל הַכָּתֵף אֲפִלּוּ בְּאַפִּרְיוֹן.
2 Neither a man nor a woman may go out in a [carried] chair. If many people need him, it is permitted, and he may be carried on the shoulders, even in a litter (or a canopy).
ג מִי שֶׁנִּתְכַּוְּצוּ (פי' שֶׁנִּצְמְתוּ וְנַעֲשָׂה קְצָרִים) גִּידֵי שׁוֹקָיו יָכוֹל לָצֵאת בְּמַקֵּל.
3 Someone whose legs have shrunk (meaning that they have become shorter) can leave with his stick.
ד אֵין מַנְהִיגִין בְּהֵמָה בְּמַקֵּל.
4 We do not lead an animal with a stick.