Judge Bridget Mackintosh said the victim was approached after she got into her car.
Poi had allegedly opened the driver's door and demanded the woman get out.
It was alleged he had a 15cm paring knife under his jacket and it was used to stab the victim in the hip.
The woman needed surgery for the wound and she was described by Judge Mackintosh as having been "extremely shaken up" by the incident.
The police allege that after stabbing the victim, Poi threw her to the ground before taking off in her 2010 Suzuki Swift.
Judge Mackintosh said he had loaded the $21,595 and the victim's handbag into a black rubbish bag, which he stuffed in the footwell of the passenger seat.
Poi was spotted driving the car by police about five minutes later, the court was told.
He allegedly refused to stop, and after a pursuit, crossed the centre line and crashed the car, injuring himself.
Poi missed his first court appearance because he was in hospital.
Yesterday, the accused was on crutches, and the judge allowed him to sit in the dock during his appearance.
Poi's co-accused, Louisa Tuhuamohitaka, who has been charged as an accessory to the aggravated robbery, did not appear in court yesterday.
Tuhuamohitaka appeared last month and was granted bail.
Judge Mackintosh declined Poi bail, citing the extremely serious nature of the alleged offence.
He will reappear in court on July 25.
