I work with virtual platforms and software simulation technology, and for us most simulation is done on standard servers, PCs, or latptops. Sometimes we connect up an FPGA prototype or emulator box to run some RTL, or maybe a real-world PCIe device, but most of the time a simulator is just another general-purpose computer with no special distinguishing properties. When connecting to the real world, it is simple standard things like Ethernet, serial ports, or USB.
There are other types of simulators in the world however – still based on computers running software, but running it somehow closer to the real world, and with actual physical connections to real hardware beyond basic Ethernet and USB. I saw a couple of nice examples of this at the Embedded World back in February, where full-height racks were basically “simulators”.