> For the complete documentation index, see [llms.txt](https://delta-robotics.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://delta-robotics.gitbook.io/docs/hardware/thermoflex.md).

# ThermoFlex™

The ThermoFlex shape memory alloy muscle system, a Nitinol muscle, the TF Node Controller that drives it, and a Python API to command real motion

ThermoFlex is our shape-memory-alloy artificial muscle system. It comes in three parts that work together: a Nitinol muscle that contracts when heated, the ThermoFlex Node Controller that drives it with precise current, and a Python API that lets you command motion from your own code. Connect a muscle to the Node, plug the Node into USB, and a few lines of Python make it pull.

The system is built for experimenting, prototyping, and integrating soft actuation into real projects. The muscle is on its first generation (TF Mk.1), with a Mk.2 in development.

## Explore ThermoFlex

<table data-view="cards"><thead><tr><th></th><th></th><th data-hidden data-card-target data-type="content-ref"></th><th data-hidden data-card-cover data-type="files"></th></tr></thead><tbody><tr><td><strong>TF Node Controller</strong></td><td>The driver electronics: high-current output, sensing, and serial or CAN control.</td><td><a href="/docs/hardware/thermoflex/tf-node-controller.md">TF Node Controller</a></td><td><a href="https://1078621213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fm2yg571oTEEeXffjpREo%2Fuploads%2Fgit-blob-f6700bd2a90cb59f3f1147ee8249ff6055f47ea6%2FIMG_2907_edited_edited.png?alt=media">IMG_2907_edited_edited.png</a></td></tr><tr><td><strong>TF Mk.1 Muscle</strong></td><td>A dual-coil Nitinol muscle that lifts up to 25 pounds.</td><td><a href="/docs/hardware/thermoflex/tf-mk1-muscle.md">TF Mk.1 Muscle</a></td><td><a href="https://1078621213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fm2yg571oTEEeXffjpREo%2Fuploads%2Fgit-blob-f0227712c0cc23c26f828f19b34a2c2f86d2b110%2F2025-02-15%2015.12_edited.png?alt=media">2025-02-15 15.12_edited.png</a></td></tr><tr><td><strong>ThermoFlex Python API</strong></td><td>Install the library and command contractions from Python.</td><td><a href="/docs/software/thermoflex-python-api.md">ThermoFlex™ Python API</a></td><td></td></tr></tbody></table>

## Related pages

* [Getting started with our evaluation kit](/docs/tutorials/thermoflex/getting-started-with-our-evaluation-kit.md): See the full kit in action.
* [Quickstart: your first flex](/docs/get-started/quickstart.md): From box to first contraction.
* [What is Nitinol?](/docs/learn/nitinol-faq.md): The material behind the muscle.