Etymology
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limp (v.)

"move with a halting or jerky step," 1560s, of unknown origin, not found in Old or Middle English; perhaps related to Middle English lympen "to fall short" (c. 1400), which probably is from Old English lemphealt "halting, lame, limping," the first element of which is itself obscure.

OED notes that German lampen "to hang limp" (Middle High German limphin) "has been compared." Perhaps it is from a PIE root meaning "slack, loose, to hang down" (source also of Sanskrit lambate "hangs down," Middle High German lampen "to hang down"). Related: Limped; limping. Limpen in Middle English was a different verb, "to happen, befall, fall to the lot of," from Old English limpan, which might ultimately be from the same root.

limp (adj.)

"flaccid, drooping, lacking stiffness or firmness," 1706, of obscure origin, apparently from the first element in Old English lemphealt (see limp (v.)). Related: Limply; limpness. A limp wrist as indicative of male effeminate homosexuality is from 1960.

limp (n.)

1818, from limp (v.).

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Definitions of limp
1
limp (v.)
walk impeded by some physical limitation or injury;
Synonyms: gimp / hobble / hitch
limp (v.)
proceed slowly or with difficulty;
the boat limped into the harbor
2
limp (adj.)
without energy or will; "a limp gesture as if waving away all desire to know" G.K.Chesterton;
gave a limp handshake
Synonyms: wilted
limp (adj.)
lacking or having lost rigidity;
limp lettuce
he felt his body go limp
3
limp (n.)
the uneven manner of walking that results from an injured leg;
Synonyms: hitch / hobble
From wordnet.princeton.edu