Palsy Walk
Comes from the disease Cerebral Palsy: a condition that causes physical disablities in human development. A Palsy walk is the way they walk, usually stiff legged with one or both knees inverted inward. The term can also be used for a person who is trying to walk off an injury or whose foot is asleep.
I didn't realize my knee could fall asleep but it did and when I stood up, I had to Palsy walk to the kitchen.