One aspect of the present disclosure relates to a method for controlling levels of perceived intensity of a sensory stimulus. The method includes configuring a stimulation signal with an activation charge rate (ACR) based on a predefined level of intensity by a subject during an action. The ACR is based on a strength of pulses in the stimulation signal parameter and a frequency of pulses in the stimulation signal parameter. The stimulation signal can be applied to neural tissue of a subject during the action. Based on the stimulation signal, the subject can be induced to perceive the predefined level of intensity during the action.