Definition
First we define a perturbed game. A perturbed game is a copy of a base game, with the restriction that only totally mixed strategies are allowed to be played. A totally mixed strategy is a mixed strategy where every pure strategy is played with non-zero probability. This is the "trembling hands" of the players; they sometimes play a different strategy than the one they intended to play. Then we define a strategy set S (in a base game) as being trembling hand perfect if there is a sequence of perturbed games that converge to the base game in which there is a series of Nash equilibria that converge to S.
Read more about this topic: Trembling Hand Perfect Equilibrium
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