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Nintendo without a doubt. They have their faults but lack of innovations isn't one of them...
N64 did it with analog controls, rumble paks and 4 players as standard, not even PS2 did this.
Gamecube then brought in wireless controls, analog buttons (great for racing games) and the ability
to link a GC to a GBA. Not to mention having a cool Phantasy Star online community.
Then Wii shook up the whole industry with motion control and virtual console with nil online fees.
Wii U has once again brought something new to the table, whereas the competition feels like their predecessors
but with more power.