The present invention relates a system that can configure a stimulus for functional electrical stimulation (“FES”) to maintain a constant muscle force while delaying the onset of muscle fatigue and a related method of use. The stimulus can be delivered to a nerve via a set of multiple electrode contacts according to a stimulation parameter that maximizes a joint moment associated with the stimulus and minimizes the overlap between pairs of contacts. The joint moment can be related to the muscle force, and the overlap can be related to the onset of muscle fatigue.