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A limp was a peculiar way of walking, caused by injury or illness.
In 2375, following the amputation of his leg and a subsequent biosynthetic limb replacement, Nog still felt phantom pain, which caused him to require a cane so he wouldn't have to put his weight on it. After Vic Fontaine spent some time with him, giving him a stylish cane to replace his walking stick, he gradually improved to the point where he was no longer limping. (DS9: "It's Only a Paper Moon")