An active material assembly is provided having a thermally-activated active material apparatus with an elongated, non-planar shape and a thermoelectric device in thermal contact therewith. The thermoelectric device is characterized by a thermal differential when current flows through the device to activate the thermally-activated active material apparatus, thereby altering at least one dimension thereof. Multiple discrete thermoelectric devices may be in thermal contact with the active material apparatus and electrically in parallel with one another. The active material apparatus, which may be multiple active material components, each with one of the thermoelectric devices thereon, may be encased within a flexible electronic-insulating material to form an articulated active material assembly that can achieve different geometric shapes by separately activating one or more of the different thermoelectric devices. A method of fabricating an articulated active material assembly is also provided.