A material engagement element sheet formed from a sheet material (10) incorporates a pattern of material engagement element slots (14), each slot containing an array of material engagement elements (20) which have a tapered distal section (30), a flange section (34) and a proximal section (32) which is attached to an edge of the slots in the sheet material. The material engagement element sheet material may be a single layer of shape memory material, or the sheet material may be a composite of different layers some of which may include pre-strained shape memory materials with distinguishable activation parameters. The material engagement element slot configuration allows for the simultaneous processing of the material engagement elements. The material engagement elements may be processed such that they are in a state that is substantially perpendicular to the surface of the material engagement element sheet. The configuration of the flexible base material and the pattern of the material engagement element slots may be used in order to manufacture various material engagement element devices including a material engagement element pad device (166), a cylindrical material engagement element device (104, 105), and a spherical material engagement element device (152).