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This paper focuses on the Participatory Sensing Network (PSN) that consists of selfish participants stimulated by certain reward programs. We propose a bargain-based mechanism to encourage cooperative message trading among the selfish nodes to maximize their rewards. We state the necessary condition for feasible message transactions in a theorem. We model message transaction as a two-person cooperative game, and we apply Nash Theorem to obtain optimal solution which is fair and Pareto optimal. We also present a greedy algorithm to reach the optimal solution. The effectiveness of the bargain-based stimulation mechanism is studied by extensive simulations based on real mobility traces.