The noun gimp is sometimes used to describe a limp or another physical disability, although it's an outdated and offensive word to use.

If you comment on someone's gimp, call the person a gimp, or say, "Look at that guy trying to gimp across the parking lot without his crutches," you've chosen a very objectionable way to talk about a disability. People will know what you mean if you use the word, but they're likely to be offended by it. Gimp was first used in the 1920's, possibly as a combination of limp and gammy, an old slang word for "bad."

Definitions of gimp
  1. noun
    disability of walking due to crippling of the legs or feet
    synonyms: claudication, gameness, gimpiness, lameness, limping
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    intermittent claudication
    lameness due to pain in leg muscles because the blood supply is inadequate; pain subsides with rest
    type of:
    disability of walking
    a disability that interferes with or prevents walking
  2. verb
    walk impeded by some physical limitation or injury
    synonyms: hitch, hobble, limp
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    type of:
    use one's feet to advance; advance by steps
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