We examined the effects of repetitive experience of feedback events and cue signals on adaptation of bimanual reactive response, both of which can be used to predict load forces on hand-held objects. Normal human subjects used bimanual index fingers to hold two plates mounted on separate torque motors. Sensory-driven reactive forces from the fingers were measured during concurrent loading of both plates or isolated loading of the left plate. After repeated experiences of single load conditions, right and left fingers increased normal forces in a coordinated manner during concurrent loading, while the left finger responded almost exclusively during isolated loading of the left plate. However, after switching load conditions from concurrent to isolated load, or vice versa, several trials were needed to adapt to the new condition, as was clearly observed in the dynamic phase of responses from the right finger. Adaptation depends on the number of feedback experiences, and specifically on prediction error, showing intermediate predictions between the two conditions. Thus, influences of the previous experiences show similar properties to those observed in self-generated movement, which were reported previously. In addition, auditory cues informing subjects of coming load conditions also partially adapted responses to these conditions. The neuronal center for reactive responses is therefore influenced by both previous experience and cue signals, inducing the appropriate responses for the predicted sensory inputs.