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to walk unsteadily or clumsily due to sustaining injuries or physical limitations
gimp
hitch
limp
to restrict or complicate development, success, or actions
strap the foreleg and hind leg together on each side (of a horse) in order to keep the legs on the same side moving in unison
hopple
the act of walking with difficulty or a pronounced limp due to pain, stiffness, or impairment in the legs or feet
fetter
