A staff weapon was any type of hand-held weapon that primarily consisted of a large stick, staff, or pole.
Taresian females used yellow staves with black writing during their joining ceremonies. Usually, they were just beaten together a few times, but if the male resisted, their true nature became clear: they were used as hand weapons. (VOY: "Favorite Son")
In 2381, eight Pakleds who seemingly served as guards to the ruling class were seen carrying golden staffs, which they later used in battle against a band of Pakled rebels who stormed the government building. (LD: "The Spy Humongous")