The creators of the drawing app "Colors!" for 3DS and iOS also tested their app's latency across a wide range of devices, and they achieved a 9ms latency in 2004's Nintendo DS:
Nintendo 3DS – 23 ms
PlayStation Vita – 49 ms
Surface Pro – 100 ms
iPhone 5 – 81 ms
Galaxy Note – 71 ms
Galaxy S3 – 104 ms & Nexus 10 – 99 ms
Galaxy Note 2 – 132 ms
Wii U GamePad – 53 ms
Nintendo DS – 9 ms
Nice video! It really shows the perceptual difference well.
However, I'm not sure it's fair to call it a "touchscreen" when it's most likely a touchpad input surface aligned with an overhead projector. It's impossible to say from the video how feasible it would be to achieve the same performance with an actual touchscreen, let alone a high-resolution mobile device. But I'm looking forward to it. :)
What I've read is most of the lag in the more optimized touchscreen stacks (read=iOS) is due to filtering and smoothing, which takes a few samples to do. The worse stacks (early android) had poor drivers and a lot of layers of abstraction, or worse, Java (maybe this is what you mean when you say "UI Graphics", but the raw numbers we're talking about here are on a far lower layer than scrolling in lists).
Graphics rendering lag is at worst 2 frames of video (double-buffering).
If you had read the PDF, 5ms is the "minimum touch time", which is not latency, but a minimum touch time it can register.
The same software has no problem rendering complex games and doing all kinds of game logic, all in 16.7ms. What makes you think asking for a touch input will take 15 times longer?
I already gave you an example of software stack impact on latency - Android sound lag went down from >250ms to respectable 10ms for some Nexus devices. Blame buffers.
Most modern touchscreens still have 100ms lag.
https://www.youtube.com/watch?v=vOvQCPLkPt4