First - You did not set animation attributes to linear section. For example if you translated cane on frames 50 - 90 according to y axis, go to frame 50, click black arrow next to Ytrans, choose "graph", click frame 50 on pic and click "linear section" (left bottom of window - orange zig-zag). Repeat it with 1st frame. The same way fix all attributes which were changed during animation. More details on PhilC page:
http://forums.diii.net/showthread.php?t=706422

Second - did you parented cane to hand? If yes cane is parented all the time even if you set parent on 100 frame. If hand is moving, can moves either.
If you did it, making can stable will be difficult, but you can add new cane and do not animate it.
Cane1 is parented to hand, make it invisible on frames at start of animation. Cane2 is not parented and not animated. Make it invisible when cane should start moving.