The NES control pad was probably the single biggest improvement the home games industry has seen. Going from the Atari 2600/5200 sticks, the Intellivision pad, or the Colecovision pad to the NES D-pad was a monumental improvement and set the standard for controllers.
Nintendo's following controllers have each either added industry standards, been wonderfully comfortable, or been very innovative:
SNES: very comfortable; added shoulder buttons
N64: analogue stick; expansion port
Gamecube: near flawless design; wireless bluetooth (wavebird)
Wii remote: love it or hate it, it was a game changer... and I love it for FPSs
WiiU Gamepad: very comfortable; touch screen capable of asymmetric gameplay and full game streaming
Yes, my opinion is that Nintendo has made the best controllers in home gaming.
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