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Table 2 Execution times

From: Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations

Test environment Execution time per iteration (ms) Speedup wrt. OpenSim
OpenSim 145.0532 ± 10.0669 1x
MATLAB 2.3656 ± 0.6689 61x
PC double 0.0111 ± 0.0013 13011x
PC float 0.0088 ± 0.0008 16416x
PC float mod. 0.0097 ± 0.0013 14982x
ARM M4 double 4.8777 ± 0.3554 30x
ARM M4 soft float 2.7327 ± 0.0928 53x
ARM M4 hard float 0.9713 ± 0.0214 149x
ARM M4 soft float mod. 2.7394 ± 0.0930 53x
ARM M4 hard float mod. 0.9740 ± 0.0216 149x
ARM M7 double 2.3124 ± 0.1704 63x
ARM M7 soft float 1.4293 ± 0.0504 101x
ARM M7 hard float 0.4462 ± 0.0117 325x
ARM M7 soft float mod. 1.4296 ± 0.0505 101x
ARM M7 hard float mod. 0.4478 ± 0.0115 324x
  1. Each row represents a separate test environment for the reference (OpenSim) and proposed inverse kinematics algorithm. Table values show mean ± standard deviation for a single iteration across all valid trials (59 for OpenSim, 100 otherwise) and the speed increase of each tested setup with respect to OpenSim