SOLVED. Fantasy series, possibly YA but might not be. A young woman finds she is blessed to be able to destroy an evil shadow type creatures.

[Jessica]

She has a "friend" who is basically a living twig and is being taught by an older man who has the power too. He has a crippled leg and carries a staff that holds the power and caused him to become crippled.

I "think" the young woman's name was Robin? I know it is a part of a series, but this particular book is the one i remeber the most.

[Jessica]

SOLVED
This is one of a series of books by Terry Brooks called The Word and The Void!

[Ky]

The Word and the Void Omnibus by Terry Brooks for the links.