We carried out new observations of the binary asteroid 22 Kalliope (S2/2001) with the Shane 3-m telescope of the Lick observatory in October and November 2001. With a FWHM (full width at half maximum) of 0″.2, Kalliope (apparent size of about 0″.15) was not resolved but it was possible to separate the secondary from its primary whose apparent separation was of the order of 0″.7 with a magnitude difference of 3.22±0.20. As each set of observations spanned a few days of time, they are well distributed along the secondary's orbit, enabling us to accurately estimate its orbit. The satellite orbits 22 Kalliope in a prograde manner with respect to Kalliope's rotational spin (which is in a retrograde sense relative to its orbit around the Sun), on a highly inclined ( i=19.8±2.0 with respect to the equator of 22 Kalliope) and moderately eccentric orbit ( e=0.07±0.02) with an orbital period of 3.58±0.08 days. The semi-major axis is 1020±40 km. Using Kalliope's diameter as determined from IRAS data, the asteroid's bulk density is about 2.03±0.16 g cm -3, suggestive of a highly porous body with a porosity of 70% considering that the grain density of its meteoritic analog is of ∼7.4 g cm -3. This suggests a rubble pile, rather than solid, body. The measured nodal precession rate of the secondary's orbit seems to be much higher than expected from Kalliope's oblateness, assuming a homogeneous body (constant density). This suggests that Kalliope may be 60% more elongated or 35% larger than presently believed or/and that its internal structure is highly inhomogeneous with a denser outer shell.