Despite prevention efforts, the prevalence of workrelated upper extremity musculoskeletal disorders (WRUED) is increasing. A limit in the development of preventive interventions is the lack of devices that can measure and process sEMG signals in order to provide real-time reliable information on muscular fatigue of the upper limb in relation to the physical demands of the work. In this paper, the development and evaluation of a real-time muscle fatigue detection algorithm based on sEMG will be presented. The proposed algorithm uses the median frequency of sEMG power spectrum density (PSD) obtained with the Continuous Wavelet Transform (CWT) as an indicator of the muscle fatigue level. To extend the algorithm's efficiency to dynamic tasks, a muscle contraction detection module is added in order to remove the segments when the muscle is not contracting. To assess the algorithm's performance, eight healthy adults performed simple static and dynamic shoulder tasks using different loads. The results of the proposed time-frequency method (i.e. CWT) were first compared to those of the traditional Short Time Fourier Transform (STFT). It was shown that the CWT performs better than the STFT in both static and dynamic loading conditions. The validity of the algorithm's output as a muscle fatigue indicator was verified by comparing the output's decrease rate with different loads. As expected, the algorithm's fatigue indicator decreased faster over time with heavier loads. It was also shown that the initial muscle fatigue estimation output is independent of the load. Finally, we studied the proposed muscle contraction detection module's efficiency to overcome issues associated with dynamic tasks. We observed a substantial improvement of the smoothness of the fatigue indicator's evolution by using of the muscle contraction detection module.