3. Imagine mass markets
Rather than designing "for the disabled", start from the principle that a technical aid can also be of service to an able-bodied person. Look for possible technology transfers: what would an upper-limb exoskeleton look like if it were used for weight training in a gym? What would an electric wheelchair look like if it became a small urban vehicle for everyone?
This process of expanding the need and the market can enable you to progress towards a product that will be better accepted by its users, because it will be positioned in non-stigmatizing product universes: an exoskeleton resembling sports equipment gives a modern and dynamic image of its user, and not the image of a disability; similarly, a wheelchair resembling a small urban vehicle gives an active image of its user.
But don't assume that a small, "standard" urban vehicle will meet...
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Imagine mass markets
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