An Implantable Pulse Generator (IPG) includes a surgically implantable housing, a battery, a first waveform generator, a second waveform generator, a modulator, and electrodes. The IPG produces a pulse envelope, a carrier waveform, and a modulated waveform. The pulse envelope is a low frequency waveform with specific pulse width, amplitude and shape to selectively stimulate a target nerve or body part. The carrier waveform is a high frequency waveform with properties such as amplitude, frequency and the like chosen so as to overcome tissue impedance and the stimulation threshold of the target nerve. The modulated waveform is the waveform obtained by modulating the carrier waveform by the pulse envelope.