Somatosensation greatly increases the ability to control our natural body. This suggests that supplementing vision with haptic sensory feedback would also be helpful when a user aims at controlling a robotic arm proficiently. However, whether the position of the robot and its continuous update should be coded in a extrinsic or intrinsic reference frame is not known. Here we compared two different supplementary feedback contents concerning the status of a robotic limb in 2-DoFs configuration: one encoding the Cartesian coordinates of the end-effector of the robotic arm (i.e.,Task-space feedback) and another and encoding the robot joints angles (i.e.,Joint-space feedback). Feedback was delivered to blindfolded participants through vibrotactile stimulation applied on participants’ leg. After a 1.5-hour training with both feedbacks, participants were significantly more accurate withTaskcompared toJoint-space feedback, as shown by lowerpositionandaiming errors, albeit not faster (i.e., similaronset delay). However,learning indexduring training was significantly higher inJoint space feedbackcompared toTask-space feedback. These results suggest thatTask-space feedbackis probably more intuitive and more suited for activities which require short training sessions, whileJoint space feedbackshowed potential for long-term improvement. We speculate that the latter, despite performing worse in the present work, might be ultimately more suited for applications requiring long training, such as the control of supernumerary robotic limbs for surgical robotics, heavy industrial manufacturing, or more generally, in the context of human movement augmentation.