This paper aims to deeply research the application of inclusive design as a people-oriented design method and process, not just a design concept, in the development process of rehabilitation appliances for the disabled. Based on the "design wheel" developed by the Cambridge Engineering Center, it uses design management to refine product goals and 17 links in four stages of inclusive design processes. Taking rehabilitation crutches as a design example, a list of needs is listed through focus groups, user portraits, user journey maps, etc. Use morphological analysis and TRIZ innovation method for design creativity. After the rapid prototype production, test and deepen the plan with participating users and designers. Finally, the design exclusion is evaluated and finalized. Through inclusive design theory and mobility aid development process, the feasibility of integrating inclusive design methods with multiple creative methods is explored, providing practical reference ideas and feasibility for more inclusive design innovations of rehabilitation aids cases, allowing inclusive design not only to stay at the conceptual level, but also to implement the specific practice of design methods and processes.