The relationship between shape-memory behavior and structure was studied using three series of poly (ester-urethanes) with varying amounts of hard segment. The materials were designed to display a three-phase structure consisting of a disperse phase of crystallites and hard domains embedded in an amorphous matrix based on soft segment. Structure and thermal properties of the resultant materials were investigated using techniques such as modulated differential scanning calorimetry (MDSC), dynamic mechanical analysis (DMA) and small angle X-ray scattering (SAXS). The results revealed morphological changes in the materials during a low temperature shape-memory cycle. To study shape recovery, a deformed specimen was evaluated on a heating stage mounted at the SAXS beamline. Furthermore, to study the effect of temperature during recovery, the specimens were subjected to different thermo-cycles. Under each set of conditions, the phase morphology and composition were investigated. Temporary shape was stored by the metastable structure formed during deformation. The recovery was triggered by the melting of crystallites and hydrogen bonding between hard domains. The recovery process was divided into three stages. Bulk incompatibility and entropic recovery determined the final polyurethane morphology. (C) 2010 Elsevier Ltd. All rights reserved.