**1. Introduction**

Shape memory alloys are smart materials which have the ability to return to a memorized shape when heated. When an SMA is below its transformation temperature (martensitic phase), it has a low yield strength and can be deformed quite easily and behaves like a pseudoplastic solid. When the deformed material is heated above its transformation temperature there is a change in its crystal structure which causes the return to its original shape (austenitic phase). During this transformation the SMA element can generate a net force, behaving like an intrinsic actuator. The most common shape memory material is a nickel and titanium alloy called Nitinol [1]. SMAs have very good electrical and mechanical properties, high corrosion resistance and biocompatibility. When an electric current is injected in the SMA element, it can generate enough heat to cause the phase transformation due to joule effect. Thanks to their unique behaviour shape memory alloys have become a valuable industrial choice in the engineering world. Pseudo-plasticity, superelasticity, and shape memory effect [2] are increasingly used in many applications including actuators, constant-force springs, and adaptive damping systems. While the application of the superelastic effect is quite well established and understood for the manufacturing of medical devices with peculiar properties, the use of the shape memory effect for building solid state actuators is still characterized by a trial-and-error approach. Although the thermo mechanical phenomena behind the behaviour of SMAs are theoretically well known [3] - [4], there is an open challenge for engineering methods to assist the designer in exploiting these alloys for the development of industrial devices.
