First, there were force feedback units that read the bass channel of a game's audio. Then, there was Rumble Pak™.
The first popular force feedback device for game consoles, the Rumble Pak™ controller accessory is inserted into the cartridge slot of a Nintendo 64 controller and can vibrate at any of four speeds set by the program. The feel is reminiscent of a beeper set to silent mode, but it helps produce a level of immersion that audio and video alone cannot. It was first bundled with Star Fox 64, the first rumble-aware Game Pak, but later sold separately.
The Rumble Pak accessory spawned a host of knockoffs. Controllers for the PlayStation console began to integrate a dual-motor vibration system known as Dual Shock. The Dreamcast console had a nearly exact Rumble Pak knockoff called Jump Pak that fit in the controller's second cartridge slot. Nintendo itself would later integrate rumble technology into Game Paks for the Game Boy Color system.
Nintendo and Rumble Pak are trademarks of Nintendo. PlayStation and Dual Shock are trademarks of Sony. Dreamcast and Jump Pak are trademarks of Sega.