John
Welcome to the forum, you might want to have a look at the following FAQ which explain where everything is
Welcome to Benefits and Work Are you referring to the ESA Moving Around activity?
ESA is not a walking test, it is a Mobility test! In addition to your walking it considers your ability to self-propel a manual wheelchair over the same distances, you do not need to be using a wheelchair or even to own one for it to be considered. SO even if you can show your walking is restricted, unless you can also show that you cannot self-propel the wheelchair you will still not score points.
Have a look at our ESA Claim guides for a more detailed explanation.
www.benefitsandwork.co.uk/help-for-claimants/esa1 Gordon