Should be the same as in FNV.
setav perceptioncondition 0
setav endurancecondition 0
setav leftattackcondition 0
setav rightattackcondition 0
setav leftmobilitycondition 0
setav rightmobilitycondition 0
Head, Torso, Limbs.
0 is totally crippled, 100 is not crippled at all. It's possible that this needs to be executed via a batch file because the engine is weird as hell and doesn't execute this correctly if any limb has a different set of values compared to the rest. To do that, create a text file and name it whatever, maybe SetCrippled or something.
Copy/paste this into it:
setav perceptioncondition 100
setav endurancecondition 100
setav leftattackcondition 100
setav rightattackcondition 100
setav leftmobilitycondition 100
setav rightmobilitycondition 100
setav perceptioncondition 0
setav endurancecondition 0
setav leftattackcondition 0
setav rightattackcondition 0
setav leftmobilitycondition 0
setav rightmobilitycondition 0
The first half of that heals all limbs, the second cripples them again.
Save the file, in the game open the console, click on an NPC and type "bat SetCrippled" without the ""
That should work on pretty much everyone, even companions.