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Additional file 5: Figure S5. Clinical drug K115 could be used as a Rock inhibitor for subculture of pluripotent stem cells. A Day 1 of H9, hUC-iPSC-2, hUC-iPSC-3 passaging by mTeSR1 with Thiazovivin. B Day 4 of H9, hUC-iPSC-2, hUC-iPSC-3 passaging. C Karyotype analysis of H9, hUC-iPSC-2, hUC-iPSC-3 or the 10th generation by Thiazovivin. D Day 1 of H9, hUC-iPSC-2, hUC-iPSC-3 passaging by mTeSR1 with K115. E Day 4 of H9, hUC-iPSC-2, hUC-iPSC-3 passaging. F Karyotype analysis of H9, hUC-iPSC-2, hUC-iPSC-3 for the 10th generation by K115. Scale bar: 100 μm.

Additional file 1: Figure S1. The signaling pathway were reanalyzed between human zygote and hESC. The signaling pathway were reanalyzed between Zygote and ESC P10 from Tang’s single cell RNA-SEQ data. Red color: up-regulation of signaling pathway, Blue color: down-regulation of signaling pathway, fold change > 2, p < 0.05.

Additional file 3: Figure S3. The process of integration-free iPSCs induction from human urine-derived cells. A The process of human urine cells was inducted to be iPSCs. pEP4 EO2S ET2Kand pCEP4-miR302-367were electroporated into human urine cells, and the process of cell shape changing. B The monoclonal hUC-iPSCs by 4I induction medium and karyotype analysis. C The monoclonal hUC-iPSCs by R5 induction medium and karyotype analysis. Scale bar: 100 μm.

Additional file 2: Figure S2. The major cell death pathways of pluripotent stem cell and orbitrap protein analysis. A Pluripotent stem cells after passage for 24 h. B Amplified cell death picture. C Heatmap of orbitrap analysis: from Left to Right: H9, supernatant death cells of H9S, hUC-iPSC-2, supernatant death cells of U2S. D The major cell death ways of pluripotent stem cells. E Venn diagram of up-regulation and down-regulation of protein expression in H9S U2S contrast with H9 and U2.

Additional file 4: Figure S4. DsRed cells in mTeSR1 and OCM175 culture medium and different culture conditions. A H9ds and U2ds O-IPSCs were cultured in mTeSR1. B H9ds and U2ds O-IPSCs were cultured in OCM175. C H9ds and U2ds O-IPSCs were cultured in mTeSR1 and OCM175 without changing medium for 2 days.

Additional file 6: Table S1. Composition of 4I induction Medium” has been changed to” Composition of 4I induction Medium for hUC-iPSCs.

Additional file 1: Figure S1. Musculoskeletal structure of ankle plantar-flexors and hip flexors. Figure S2. Exoskeleton structure parameters. Table S1. Net metabolic rates of walking and running on the treadmill. Table S2. Net metabolic rates of walking and running at different speeds. Table S3. Net metabolic rates of walking and running with common optimal stiffness spring. Table S4. Exoskeleton actuation parameters during walking. Table S5. Exoskeleton actuation parameters during running. Table S6. Biomechanical parameters during walking. Table S7. Biomechanical parameters during running.