Who Made That Escape Key?

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According to Jack Dennerlein of the Harvard School of Public Health, an expert on how humans interact with computers, the escape key helped drive the computer revolution of the 1970s and '80s. It says to the computer: 'Stop what you're doing. I need to take control.' In other words, it reminds the machine that it has a human master. But who invented the escape key?
(via Neatorama)