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Model computation vs. real time ratio (compute/real) by task.
| Task | IK | CMC | FD |
|---|---|---|---|
| Shrug | 1.3 | 377 | 11 |
| Shrug+ | 1.3 | 404 | 18 |
| Flexion | 1.2 | 408 | 13 |
| Flexion+ | 1.1 | 401 | 18 |
| Abduction | 1.0 | 384 | 17 |
| Abduction+ | 0.9 | 385 | 17 |
Lower values are faster. Computation times evaluated for inverse kinematics (IK), computed muscle control (CMC) and forward dynamic (FD) simulations.
+Indicates the task with a 2 kg hand-held mass.
