PROBLEM TO BE SOLVED: To provide an interactive simulation system, a simulator, which can provide a simulation framework for bidirectionally linking a model such as a mathematical model by in silico with a device such as a real-world robot or an experimental device via a network. An object of the present invention is to provide an interactive simulation method and an interactive simulation program. SOLUTION: A simulation of the behavior of an actuator-mounted device is executed based on a model, a simulation result is acquired, an actuator drive control is executed based on the simulation result, and the sensor of the actuator-mounted device detects it. The sensor detection value is acquired and the model is updated based on the sensor detection value. [Selection diagram] Fig. 3
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