The authors previously developed a flexible and multi-degree-of-freedom pneumatic artificial rubber muscle that uses shape-memory polymer (SMP) sheets with an embedded electrical heating wire. The bending direction and initial shape of the muscle can be changed by utilizing the large difference in the elastic modulus below and above the glass transition temperature, shape fixity, and shape recovery of SMPs. In this study, to improve performance, we propose a shape-memory composite (SMC) sheet that consists of SMP sheets with an embedded shape-memory alloy (SMA) wire used as an electric heating wire. The mechanical properties of the previously developed SMP sheets and the proposed SMC sheets are compared through shape recovery, bending, and tensile tests using prototypes. The motion of the artificial muscle with various samples attached is evaluated through an isometric test and bending angle measurements. The experimental results confirm that the use of the SMA wire improves the production reproducibility and shape recovery of the SMP sheets without degrading other mechanical properties or actuator performance.

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