XBGMER
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I just take some quote summary from DualShock's 10th Anniversary [source]
May 2, 2008 - Ten years ago this week, Sony launched the very first DualShock controller for the original PlayStation. Jettisoning the launch controller, which featured only a traditional d-pad on its face, the DualShock was an important part of the 2D-to-3D revolution that swept gaming in the 32-bit generation. Each of the big three consoles -- PlayStation, Nintendo 64, and the Saturn -- embraced analog-style control sticks that made controlling a character in a 3D environment more intuitive and natural.
All three console makers were now analog, but they missed the second half the evolutionary cycle for 32-bit controllers: Rumble. Like the analog push, Nintendo lead the charge with the release of the Rumble Pak for the N64 controller. Shipped with Star Fox 64 in 1997 (in all territories), this add-on jolted the N64 controller with tactile feedback. Rumble was such a hit that Sony revisited the design of the Dual Analog Controller to add vibration. The result was the DualShock, which became the standard controller for the remainder of the PlayStation lifecycle and was gently updated for the 2000 release of the PlayStation 2.
Immersion sued both Microsoft and Sony in 2002 for patent infringement over the inclusion of vibration in their respective controllers. (Nintendo escaped litigation because the design of the GameCube controller was different and protected under its own patent.) Immersion had patented its vibration system in 1995, predating both the DualShock and the Xbox controllers by years. Microsoft quickly settled its part of the suit out of court by buying into Immersion. Sony, however, fought the case and eventually lost. Sony was ordered to pay Immersion $82 million in damages (fees and interest raised the total to just over $90 million), but an appeal blocked Sony from having to pull the DualShock series of controllers from stores.