Table 3.

Computation times to process a single data frame for each of the main steps in the real-time pipeline (Figures 1,2 and 3). For each of walking, fast walking, and running tasks, the computation times of 12000 frames were measured and then used to calculate mean and standard deviation (SD). Computation times associated with Vicon Nexus may vary depending on the version of Vicon Nexus. Also, given the multithreaded nature of the software, the GRF filtering can occur concurrently to the Inverse Kinematics, possibly reducing the total computation time. For this analysis the gait2392 OpenSim model, 32-markers marker-set, and 8 threads of inverse kinematics were used. Real-time filtering cutoff frequency were set to 34 Hz for walking and fast walking, and 54 Hz for running.

	Computation times	Walking		Fast walking		Running
		mean	SD	mean	SD	mean	SD
		ms	ms	ms	ms	ms	ms
Vicon Nexus	Marker reconstruction and labelling	3.078	0.333	3.226	0.355	3.483	0.487
	Data synchronisation	0.304	0.076	0.277	0.079	0.298	0.136
	Data transmission	0.183	0.051	0.162	0.030	0.167	0.054
Real-time OpenSim	Inverse kinematics	5.325	2.661	5.745	2.453	5.899	2.509
	Inverse Dynamics	0.347	0.051	0.345	0.058	0.356	0.085
	Joint angles filtering and differentiation	0.125	0.110	0.126	0.106	0.101	0.110
	GRF filtering	0.277	0.106	0.331	0.098	0.307	0.092
	Total	9.639	1.016	10.211	0.939	10.609	0.970