Synonyms for Limp (same or very similar meaning)
WordNet sense 1 (lacking in strength or firmness or resilience):
flaccid, lax, slackWordNet sense 2 (walk impeded by some physical limitation or injury):
gimp, hitch, hobbleWordNet sense 3 (not firm):
wiltedWordNet sense 4 (showing deterioration from age):
staleFrom the ODE community, based on WordNetadd/edit