I still hate this gameplay mechanic, and can't get used to it. I can't tell you how many times I've cloaked, run up to a dude and elbow bladed him, then turned to get the next guy and - "BZZZZT!"- not enough energy, guy shoots my face off. I have cybernetic arms, for God's sake. If I can move dumpsters and vending machine to my heart's content, I shouldn't need a candybar between punching dudes.
It seems like you can, but carrying and throwing heavy objects also drains energy, just very slowly.