This is where I think markets have utlility.
I'm not talking about "capitalist" markets here where a portion of the profit gets siphoned off to a middle-man or a rentier, I'm talking about exchange or trade (which exists outside of capitalism, and "always" has, even when it hasn't been the dominant part of the economy).
how much does Robert *really* want another axe? Enough to make a wheelchair (or to trade something to someone/some group who *can* make a wheelchair)? He might *say* he wants another axe, but until we see him trade something of value for it, we don't *definitely* know.
And how many wheelchairs do we need? Really? Well, if someone who needs one is willing to trade something *they* value, then we get a steer.
Markets are really good at revealing preferences that might otherwise be hidden.