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Sugar explains in the video that they started by working on robots and exosuit-like devices that could help amputees, but DARPA came and asked if they could build devices that would augment able-bodied people — and soldiers in particular. That's how they ended up focusing on jetpacks.
Kerestes joined the team as a engineer and roboticist with a welding background. With that, he could help design a prototype jetpack and then weld it together the next day.