There are relatively few books specifically on this topic, and most of these are compilations of chapters at the research level. It is, therefore, currently rather difficult to identify a coherent, introductory level book dedicated to the topic.
There are a number of websites giving various types of information. A good starting point would be that of the Department of Functional Materials at the Czech Academy of Sciences, where Prof. Petr Sittner is based - see http://department.fzu.cz/ofm/wwwOFM/index.php?lang=en. Various videos and illustrations of shape memory devices etc are available there.
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