*Disclaimer* I tried searching for it on the forums but didn't find it. If it is posted somewhere, let me know. *Disclaimer*
So here is the deal. Had a nice little fire fight :gun: and Boone got a little too close to a chucked frag.. Oops. Problem is now he is crippled.

There doesn't seem to be an option to take care of that. he is at full health. I have tried Dr. Bags, visiting docs, nada.. Anyone have any insight how to cure crippled limbs on companions? Ty
That's a common bug, the way I fixed it is I fast traveled to a new location, got into a fight. And after the fight he healed as normal (removing the crippledness like he normally does).
If that doesn't work for you, and you're on the pc, open the console - click on Boone, then type in "resethealth" without the quotation marks.
If you're on the X360 or PS3, maybe try having him leave you as a follower, waiting 72 hours then going back to Novac and re-recruit him?