This paper focuses on learning and adaptation of sensorimotor contingencies. As a specific case, we investigate the application of prism glasses, which change visual-motor contingencies. After an initial disruption of sensorimotor coordination, humans quickly adapt. However, scope and generalization of that adaptation is highly dependent on the type of feedback and exhibits markedly different degrees of generalization. We apply a model with a specific interaction of forward and inverse models to a robotic setup and subject it to the identical experiments that have been used on previous human psychophysical studies. Our model demonstrates both locally specific adaptation and global generalization in accordance with the psychophysical experiments. These results emphasize the role of the motor system for sensory processes and open an avenue to improve on sensorimotor processing.