Which gaming company first introduced the rumble/vibration feature in a mainstream controller?

In the world of gaming, product design can make or break the player experience. Controllers are the primary interface between gamers and virtual worlds, and their evolution has dramatically shaped how we play. This trivia question focuses on a pivotal innovation moment that changed gaming forever by introducing a feature now considered standard across most gaming platforms.

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Nintendo with the N64 Rumble Pak (1997)
Sony with the original PlayStation DualShock (1998)
Sega with the Dreamcast controller (1999)
Microsoft with the original Xbox 'Duke' controller (2001)