1. A machine for improved secure access to computing devices, systems, resources, or services, comprising: one or more computer servers with authentication modality data stored thereon for a plurality of authentication modalities, wherein the authentication modality data for each authentication modality comprises a trustworthiness factor for each of one or more user input devices, a trustworthiness factor for each of one or more user connection media, and a computational complexity cost factor; and a processor or microprocessor, wherein the processor or microprocessor is programmed to determine one or more of said authentication modalities to use for an authentication verification event by: determining the objective trustworthiness value for each modality based on device trustworthiness factors and connection media trustworthiness factors for said modality; determining a penalty value for each modality based on the computation complexity cost factor for said modality and the previous selection history of said modality for previous authentication verification events; ranking the authentication modalities based on the objective trustworthiness value and the penalty value; and applying one or more authentication modalities in order of ranking.