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USB for Real time applications?


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Has anyone tried to drive a real time embedded system(Say motor or LCD)on USB?
Does anyone know of any commercial application of USB in Real time system?
As far as I  know whatever USB applications we see in today's market(e.g camera,flashcard,Scanners etc) use USB for data transfer and not for processing in real time as can be done using printer port.
I want to compare Processing using USB in real time vs processing using parallel port in real time on timing basis.I found that USB is slower than LPT under Windows 2000.(for toggling a bit USB took 2ms while LPT took 5us)Does the drivers or the O.S influence this timing?
Does the protocol influence the timing?
Thoughts welcomed.

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