Provided are an impact prediction device, control device, impact prediction system, impact determination method, and impact prediction program with which it is possible to ensure safety in an area in which there is a risk of contact between an object to be controlled and a worker when an object to be controlled such as an industrial robot and a human subject such as a worker perform work in cooperation. This impact prediction device (1) is provided with a specifications recording unit that records specification information relating to the specifications of the object to be controlled. The impact prediction device (1) calculates a movement of the human subject on the basis of a measurement result for a part to be measured in the body of the human subject (S401-S405), and calculates an operation of the object to be controlled (S406-S408). Then, on the basis of the movement of the human subject, the operation of the object to be controlled, and the specification information recorded in the specifications recording unit, the impact prediction device (1) calculates an impact degree, which represents the degree of the impact of the object to be controlled on the human subject when the object to be controlled makes contact with the human subject (S411), and controls the object to be controlled on the basis of the calculation result (S412).
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