This video has a clear explanation of the shape metal alloy on the Mars rover wheel: https://youtu.be/2lv6Vs12jLc https://youtu.be/2lv6Vs12jLc Short answer is

This video has a clear explanation of the shape metal alloy on the Mars rover wheel: https://youtu.be/2lv6Vs12jLc https://youtu.be/2lv6Vs12jLc Short answer is that the material is super elastic, and will return to its original shape either when heat is applied, or when stress is applied.