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TF Node Controller

A Joule-heating smart controller for Nitinol, ThermoFlex™, and other artificial muscles—built for high-current actuation, real-time sensing, and expandable control.

Pronunciation: THER-moh-fleks nohd kun-TROH-lur

Also visit our getting started guide to see what's possible with the ThermoFlex™ kit and accompanying Python API.

⚡ What It Does

The ThermoFlex™ Node is your desktop control lab for smart materials. Originally built for shape memory alloys like Nitinol, it also supports experimental actuators like twisted polymer (TCP) muscles and other Joule-heated materials (experimental, reach out for more information).

From muscle contraction to shape-setting, this board gives you tight control over current, temperature, and timing—all from a USB-C cable or CAN network. Use it to experiment, automate, prototype, or break stuff (in a controlled, data-driven way).

🧪 Specs at a Glance

Parameter
Min
Max

Input Voltage

0 V

40 V

Input Current

TBD

65 A continuous

Output Current (Shared across M1 + M2)

0 A

60 A continuous

Output Current (Instantaneous Total)

0 A

110 A

PWM Frequency

—

100 Hz

Resistance Measurement

100 mΩ

5.00 Ω

The controller measures current, voltage, and resistance, allowing it to estimate wire temperature and (experimentally) detect SMA phase changes.

Need deeper specs or edge-case testing? Ask Mark, our ThermoFlex Node Controller mastermind. (Warning, bright lights WILL scare him)

🧩 Hardware Features

Everything you need for smart material actuation in one dense, overengineered package:

  • Arduino R4 Minima (included) – custom firmware, programable if needed

  • XT60 Male Input – for clean, high-current power

  • 2× XT60 Female Outputs – labeled M1, M2 (shared 60 A total)

  • 2× JST Sensor Ports – connect thermistors, strain gauges, etc.

  • USB-C – serial + power + firmware flashing

  • CAN Bus (JST) – control up to 127 devices from a single USB

  • Integrated cooling fan – powered from XT60 IN

  • Passthrough Arduino headers – analog + digital IO, accessible for debugging/expansion

  • RGB LED – used for device status signals

  • AUX Button – reprogrammable for reset, trigger, or anything else

  • DC jack (Arduino) – optional secondary power for Arduino MCU only

  • Sick AF 3D-Printed Enclosure – with frosted acrylic top, compliant buttons, visible status and power terminals (and yes, that's the official name)

🔌 Setup Instructions

  1. Power the board via XT60 IN (12–24 V recommended)

  2. Connect actuators to XT60 OUT ports (M1, M2)

  3. Plug in USB-C for serial control or firmware flashing

  4. Add sensors via JST ports if you want extra data

  5. Use CAN JST ports to daisy-chain multiple controllers (if needed)

Also see the ThermoFlex Python API for more information on setup.

🧠 Smart Control Features

This isn’t just a current dumper—it’s a feedback-rich control system.

  • Resistance Sensing → Detects SMA activation, cool-down, or failure

  • Current + Voltage Monitoring → For safety and thermal estimation

  • PWM Output → Adjustable control over heating curve

  • CAN + Serial Communication → Control locally or over networks

  • Programmable LED + Button → Customize interface or system states

  • Experimental Features → Phase-state detection, live temperature inference, auto-profiling (in dev)

If you're using this for non-SMA materials (like TCP), shoot us a message. We'll help you tune it.

❄️ Cooling Notes

This board has an integrated fan, but the thermal load depends heavily on your use case:

Use Case
Cooling Needs

<20 A, short duty cycles (normal operation)

Passive airflow sufficient

20–40 A continuous

Internal fan helps, monitor temps

40–60 A or shape-setting

Caution: airflow may not be enough—use external fan, monitor MOSFET temps closely

Shape-setting heats things up fast. We’re still testing long-session limits—if you're running extended training cycles, keep an eye on the heat and let things cool between rounds.

If you are only using the controller to power ThermoFlex muscles normally with the Python API, do not worry about this section.

✅ Best Practices

✅ Do
🚫 Don’t

Use XT60s or heavy-gauge wires (AWG 12 recommended)

Solder wires to high-current pads

Keep power and actuator wiring short + clean

Use jumper wires for >5 A loads

Monitor resistance + current in software

Assume constant load behavior

Actively cool during shape-setting

Expect the fan alone to handle extreme temps

🧰 Dev Notes

Under the hood: it's a powerful Arduino shield—with extra brains.

  • USB-C Python Serial/CAN API (command/control/monitor)

  • CAN Bus for scalable setups

  • All Arduino pins are accessible for all your hacking needs

  • Future Features (in dev):

    • Live plotting via Delta Client

    • Auto actuator type detection

    • Thermal feedback loops

Want to contribute or experiment? We’d love to see what you build with it.

📚 Further Reading

PreviousThermoFlex™NextTF Mk.1 Muscle

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