Hemiplegia is a total or partial paralysis of one side of the body that makes it impossible for patients to walk, because their feet can't stay in a natural, 90-degree position. Orthotics help, but they are invasive, difficult to wear, and can not be custom fitted; the patient adapts to the orthotics, not vice versa. Windform is a system for 3D printing customized orthotics to help the mobility of hemiplegic patients, allowing them to walk again.