Immersion Corporation, a developer of touch feedback technology, has filed a complaint with the U.S. International Trade Commission against Apple Inc., AT&T Inc., and AT&T Mobility LLC and a patent infringement lawsuit against the same companies in the U.S. District Court for the District of Delaware.

The complaints allege that the Apple iPhone 6, Apple iPhone 6 Plus, Apple iPhone 6s, Apple iPhone 6s Plus, Apple Watch, Apple Watch Sport, and Apple Watch Edition infringe certain Immersion patents covering haptic feedback systems and methods in electronic devices.

“Immersion and its employees have worked diligently for over 20 years to invent solutions and build an ecosystem of content and playback devices that enable realistic and rich digital experiences,” said Immersion’s CEO Victor Viegas. “Touch matters, as it informs, excites, and humanizes the digital world we interact with every day. Many of our licensed customers are market leaders that benefit from our innovation in touch technology.”

In the ITC complaint, Immersion is seeking an exclusion order preventing the importation, sale for importation, and sale after importation of infringing Apple devices into the United States by the defendants and appropriate cease and desist orders. In the U.S. District Court suit, Immersion is alleging infringement of the same patents and is seeking to stop further infringement by the defendants, and to recover damages.

“While we are pleased to see others in the industry recognize the value of haptics and adopt it in their products, it is important for us to protect our business against infringement of our intellectual property in order to preserve the ecosystem we have built and the investments that we have made in continuing to advance haptic experiences,” added Viegas. “We will vigorously defend the intellectual property we have developed when it is infringed.”

Immersion was founded in 1993 and is based in San Jose, California.