4D printing combines Additive Manufacturing (AM) processes together with smart materials and as a result, creates structures that possess an ability to change their shape or properties over time, when exposed to certain environmental stimuli. Fused Deposition Modelling (FDM) works well with the concept of 4D printing because it creates an opportunity to pre-program structures during the printing process. Here, multi-material shape-shifting structures that imitate a hinge are presented. The structures are printed using PLA and TPU and remain flat after printing, until subjected to a stimulus - heat. The main objective of this report is to introduce the possibilities of the aforementioned pre-programming step to be customised by varying the printing process and design parameters of the printed part. Experiments are conducted to investigate the influence of printing speed, temperature of the build plate, number of layers in the structure and the width of the bending area. Besides that, repeatability of deformations after a small number of cycles is also investigated. Acquired results prove that the deformation of the structures can be controlled by printing parameters and a variety of bending degrees can be obtained by manipulating them. Hot water was used as a stimulus to activate the structures but it is believed that other direct and indirect heating sources are also applicable. The research could help with predicting the behaviour of deformation of shape-shifting structures by selecting certain printing and design parameter values.