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The joint real-time co-simulation, which involves the virtual integration of laboratories located in different locations, is met with challenges, especially the communication latency or delay, which significantly affects co-simulation accuracy and system stability. The real-time power system co-simulation is particularly susceptible to these delays and could lose synchronism, which affects the simulation fidelity and limits dynamic and transient studies. This paper proposes a model-free framework for predicting and compensating delays in the virtual integration of real-time co-simulators through the damped impedance interface method to address this issue. The framework includes an improved co-simulation interface algorithm called the Damping Impedance Method (DIM) and a model-free predictor system designed to predict and compensate for delays without decomposing and reconstructing signals at coupling points.