I benchmarked my PGP smarcards for 4K RSA performance (time in seconds, average over 5 runs):
- CPU (i7-5930K): 0.175
- Nitrokey Pro (version 2.1): 3.162
- Nitrokey Pro 2 (version 3.3): 3.132
- Ledger Nano S (Firmware 3.3.1, OpenPGP XL 1.3.1): 4.114
- Yubikey FIPS (version 2.1): 0.914
I have a Trezor One as well, but didn't benchmark because it is not an OpenPGP card and requires a special agent software to run on the host :(
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