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This paper contains results on the design of electrical signals for delivering charge through electrodes to achieve neural stimulation while reducing the peak electrode voltage. A generalization of the usual constant current stimulation phase to a stepped current waveform is presented. Techniques based on optimization and linear dynamic system theory are then applied to design the magnitude of each current segment in such a way as to minimize the maximum electrode voltage, while transferring a designated quantity of charge in a specified time. Experimental results are provided which validate the approach in saline and in neural tissue.