This study proposes a force-based real-time hybrid simulation (RTHS) framework with robust compliance-based adaptive compensation. Adding a compliance spring between the loading actuator and a rigid specimen is an alternative to measure restoring forces through load cells with significant noise. But, we considered compliance spring and load cell properties to be uncertainties. Robust adaptive model-based compensation will be employed to overcome force-tracking errors between substructures. The proposed methodology will be verified in a virtual RTHS environment, where parametric studies will be considered to check the system's robustness over uncertain compliance and specimen properties.