The noun gimp is sometimes used to describe a limp or another physical disability, although it's an outdated and offensive word to use.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."
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New Oxford Dictionary of American English
gimp(2) | ɡimp | North American informal, derogatory
noun
1 a person with a physical disability or leg injury.
• a limp.
2 a stupid or contemptible person.
Yeah, no.