Well, I am trying to translate from Spanish where there are a few words that describe these conditions in ridiculous detail but are not particularly derogative, just informal. For example, while a doctor would probably say amputee, most people in conversation would say mocho (if the person is missing any limb, specially a leg) or manco (if the person is specifically missing a hand), and in the case of a lame person they could use renco or cojo.