A thermal therapy system includes at least one Peltier device having a heating side and a cooling side; a cold fluid reservoir adjacent the cooling side of the Peltier device, and a hot fluid reservoir adjacent the heating side of the Peltier device. A controllable cooling fluid pump in fluid communication with the cold fluid reservoir drives cooling fluid to an applicator pad, and an independently-controllable heating fluid pump in fluid communication with the hot fluid reservoir drives hot fluid to the applicator pad.