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Nintendo Innovates
Sony Improves
Nintendo Perfects

Example

N64 had an analogue stick
PS1 had 2
GC had 2, and they were comfortable if you had larger hands than a 6 year old

Wiimote had motion controls
Move improved on the Wiimote without WM+
WM+ had already perfected it.

Additionally, GC had much better shoulder buttons than the PS2, even if it had fewer