This article introduces a Human-centred Engineering Design (HcED) practice, which values human aspects. This practice engages deeply into (1) human geometry and motion for specific tasks, (2) product and manufacturing complexities through rapid prototyping, and (3) the broader human task context. This cross-disciplinary method combines ergonomics, AM, sensor applications, and multiple design practices. The framework provides concrete tasks to drive innovative designs in engineering. The study, grounded in design research case studies, led to five new Paralympic Rowing world records.