They can sometimes be quite detailed and complicated. Moreover, there are a number of models to consider. This has helped both parties and may be a model for others. The National Cancer Institute has another model where a company, the Institute, and a university board all sign on to help develop a clinical trial. It helps spread the risk and give academic credibility to the activity.
Market size is sometimes a barrier to the commercialization of technology.
Parallel or similar industries may have lessons to teach those developing assistive technologies how to make their product work in a niche or small market. A public-private partnership to link different groups across industry, government, and academe might prove to be very helpful. The federal labs may be an important resource, but they are limited by their missions. They have little in discretionary funds to provide support to companies seeking help. This may be a place where a directive from the government might help.