AbstractSensorimotor transformation is indispensable to the accurate motion of the human body in daily life. For instance, when we grasp an object, the distance from our hands to an object needs to be calculated by integrating multisensory inputs and our motor system needs to appropriately activate the arm and hand muscles to minimize the distance. The sensorimotor transformation is implemented in our neural systems and recent advances in measurement techniques have revealed an important property of neural systems: a small percentage of neurons exhibits extensive activity while a large percentage shows little activity, i.e., sparse coding. However, we do not yet know the functional role of sparse coding in sensorimotor transformation. In this paper, I show that sparse coding enables complete and robust learning in sensorimotor transformation. In general, if a neural network is trained to maximize the performance on training data, the network shows poor performance on test data. Nevertheless, sparse coding renders compatible the performance of the network on both training and test data. Furthermore, sparse coding can reproduce reported neural activities. Thus, I conclude that sparse coding is necessary and a biologically plausible factor in sensorimotor transformation.