Yes, it depends upon exactly how hard you go. I DO walk pretty fast, something like 13-14 minutes per mile, and I'm sure that gets my heart rate going. However, I'm also sure that my HR is higher when I'm cycling unless I'm stuck in traffic where I can't ride like I want to. Averaging 14 or 15 mph on roads where I often must slow or stop for obstacles means I'm getting a pretty good workout. On the plus side the slightly higher rolling resistance of the airless tires means that I'll get a slightly better workout in those situations where I'm artificially slowed down. On the minus side, it means I won't go as fast even if I'm getting the same workout. So far my best ride on the airless tires has been at an average speed of 13.6 mph. However, I haven't had any rides yet where I was really going hard and hitting little traffic the whole time. Such rides on air tires averaged in the 17 mph area. They should be around 15.5 or so with the airless tires. I'll be overjoyed if it turns out there's no speed difference at all.
BTW, I just tried the airless tires today in wet conditions for the first time. Not intentionally, but it started raining while I was cycling and I had no choice but to ride home in the rain. Anyway, no differences at all in wet traction between these and regular pneumatic tires. In fact, I might cautiously even say the traction seemed a little better than pneumatics. And it seems like the thin film of water on the road reduced the rolling resistance a bit also. In any case so far I'm thoroughly happy with my airless tires. Only thing is to see how they hold up long term. They only seem to ride better and roll with less resistance as I pile the miles on. The only real downside to the airless tires is the company selling them. Service is hit or miss. 14 months and 6 emails is totally unsatisfactory service but there have been people getting their tires in 2 weeks. You unfortunately never know which and this is why I recommend dealing directly with the manufacturer, provided they sell the particular model tires you want.
One other thing-cost. I paid $50 plus $5 for a custom psi plus shipping for two tires. This has since gone up to $70 plus $15 for a custom psi plus shipping. However, even at that price it's no more than decent air tires and tubes. Considering the tires last more than twice as long, it's a bargain actually.