Like many here yes Ninja Gaiden: Black is definitely a must since its has the most balanced difficulty among its sequels. Sigma tweaked it to become easier and I noticed this as this was the reason I bought a PS3 thinking it was once going to be an exclusive there :/. I couldn't say much about Ninja Gaiden 2 since I didn't have an Xbox360 and the fact I only played it in a rental shop (failing to finish the game as I paying for alot of hours in a rental shop isn't my thing).
I however got Sigma 2 for PS3 and the changes are the added chapters where you can play as Rachel, Momichi, and Ayane (which was hardly a good addition since I only wanted to get that over with immediately cause its simply much more fun playing the main character). Another addition was the mission mode which I found in the vanilla Ninja Gaiden 2 to be better due to the fact you can play the missions solo (just like Ninja Gaiden: Black which also featured a fun mission mode), while in Sigma 2 this mode is forced to play as coop either with another player or a bot(which is completely useless in the higher levels, and you can forget about this if your net connection isn't much as lag here really counts a lot with the required frame timings). Another change in this version is the removal of certain weapons like the Windmill Shuriken which was a fan favorite, the bow no longer consumes ammo and it has an integrated hot-key for the player to quickly use it, the bow can no longer be charged like the ultimate techniques. Added some boss battles which were hardly necessary and came out as just additional fillers that paled to the original bosses already in NG2.
(This part was my personal experience) the difficulty (for me) in Sigma 2 was actually easier due to the fact that there we're certain bosses that we're simplified. A good example of that was the in game's Water Dragon boss fight no longer required the player to use the swimming mechanics that required the player to actually run or swim on water to fight the boss while in Sigma 2 they conveniently placed the boss fight in a platform that made this fight significantly easier especially with the fact that it was really friendly to abusive invincible moves. Likewise Sigma 2's difficulty also increased due to the fact that in the story mode you are forced to play as the 3 ladies who have pretty weak and lame move sets as compared to the main character. The only real perk I saw with Sigma 2 was the fact that much of the unfinished optimization's of the vanilla version (i.e. small framerate issues and certain texture tweaks) has been fixed but not all so it's not necessarily a "superior version" as some claim it to be as its additions does not really fix the issues already found in the vanilla version.
Oh I forgot to mention that another addition Sigma 2 has is the fact that you can play around with the six axis controller of the PS3 when playing as the heroines to see their breasts "jiggle" which was a completely useless addition.
Overall the difficulty balance of NG2 and Sigma 2 definitely pales in comparison to Ninja Gaiden: Black as the NG2 and NGS2 while its combat mechanics have significantly improved they rely too much on abusing "invincible frames" to get through while its predecessor promoted actual skill to get around the game.
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