Shape memory tissue engagement elements (15) are created using shape memory alloys or shape memory (SM) composite sheets (33, 36) with one or more SM material sheets (20, 32). Arrays of the tissue engagement elements may then be inserted or molded into flexible base materials forming pads for tissue engagement. In certain embodiments, the composite sheets incorporate two SM material layers (20, 32) having differing transition temperatures to allow activation of one layer for tissue engagement and activation of the second layer for tissue release. In exemplary embodiments, insertion of interconnected tissue engagement elements (46) into a base layer (19) with slots (48) provides a completed pad array. In alternative exemplary embodiments, vacuum forming of composite sheets (51) with cutting of corrugated sides (53) to form tissue engagement elements allow production of complete arrays of tissue engagement elements. Overmolding the arrays with a flexible base material (19) provides a completed pad.