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Of the big three, Nintendo has without a doubt done the most overall for Gaming, but there is no denying Sony pretty much built gaming up to the scale we see now (or at least propelled its rise to the mainstream by quite a few years). Despite that though, I think Nintendo still out them in this.

MS have done quite a few great things (Xbox Live being the biggest), but none that could be considered game changing (heh) for the industry. That's likely due to the fact they arrived late more than anything.