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NES - the generation that started modern gaming as we know it

Wii - The revolution

Not coincidentally, also their most successful consoles. Wii U is not innovative. It is merely a controller with a tablet, and the games themselves are really no different from what you'd find on other consoles. N64 merely relied on 3D graphics, which I don't really see as innovation but just a natural upgrade.

That said, I still believe nintendo is at their best when they put their focus on the games themselves, not innovation.