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The noun gimp is sometimes used to describe a limp or another physical disability, although it's an outdated and offensive word to use.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