Design for remanufacturing (DfRem) plays an important role and aims to reduce carbon emissions during the remanufacturing phase at the initial design stage. However, low-carbon requirements and customer demands are not considered integrally when generating schemes, which might to limit the potential to reduce carbon emissions. To address the problem, this paper proposes a DfRem scheme generation method that combines the Quality Function Deployment for Low-Carbon (QFDC) model with the FMAS (Functional-Motion-Action-Structure) model. Firstly, the demands are categorized into customer, remanufacturability and low-carbon demands, and the FAHP (Fuzzy Analytic Hierarchy Process) is used to evaluate the weight of demands. Secondly, the QFDC model is developed to convert demands to engineering characteristics, and to determine the design priorities. Thirdly, the FMAS model is established to map engineering characteristics into related structures, and a lowcarbon and customer-satisfied DfRem scheme is generated. Finally, the efficacy of proposed method is demonstrated through a case study on the remanufacturing of a CNC milling machine, displaying its superiority in reducing carbon emissions while meeting customer demands.