The former No.1 draft pick is expected to play his first game of the season when undefeated Carlton face Adelaide at Marvel Stadium on Saturday.
Walsh has sat out the first four games of 2024 due to a back injury.
The 23-year-old had back surgery after the end of the 2022 season and there were fears he might need another operation.
But Voss and the club have been adamant all along Walsh would return sooner rather than later and they were just being careful with one of their best players.
"(I'm) very happy that the Sam Walsh questions will now be over, that is a victory in itself," Voss told SEN on Tuesday.
"With Sam there was a lot of speculation, the reality is they had to get through some milestones.
"Grateful to have him available and it'll be great to have him out there. They took their time with his recovery."
Injury-hit Richmond could be boosted by the return of defender Dylan Grimes for their clash with winless West Coast.
Grimes is listed as a test for Sunday's game after struggling with a wrist injury.
Three-time premiership midfielder Dion Prestia remains three weeks from returning as he recovers from his latest hamstring injury, as does Jacob Hopper with a knee issue.
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