PurposeThe purpose of this paper is to present a family of robust metasurface-oriented wireless power transfer systems with improved efficiency and size compactness. The effect of geometric and structural features on the overall efficiency and miniaturisation is elaborately studied, while the presence of substrate losses is, also, considered. Moreover, to further enhance the performance, possible means for reducing the operating frequency, without comprising the unit-cell size, are proposed.Design/methodology/approachThe key element of the design technique is the edge-coupled split-ring resonators patterned in various metasurface configurations and optimally placed to increase the total efficiency. To this goal, a rigorous three-dimensional algorithm, launching a new high-order prism macroelement, is developed in this paper for the fast evaluation of the required quantities. The featured scheme can host diverse approximation orders, while it is drastically more economical than existing methods. Hence, the demanding wireless power transfer systems are precisely modelled via reduced degrees of freedom, without the need to conduct large-scale simulations.FindingsNumerical results, compared with measured data from fabricated prototypes, validate the design methodology and prove its competence to provide enhanced metasurface wireless power transfer systems. An assortment of optimized 3 x 3 and 5 x 5 metamaterial setups is investigated, and interesting deductions, regarding the impact of the inter-element gaps, the distance between the transmitting and receiving components and the substrate losses, are derived. Also, the proposed vector macroelement technique overwhelms typical implementations in terms of computational burden, particularly when combined with the relevant commercial software packages.Originality/valueSystematic design of advanced real-world wireless power transfer structures through optimally selected metasurfaces with fully controllable electromagnetic properties is presented. The analysis is performed by means of a rapid prism macroelement methodology, which leads to very confined meshes, accurate results and significantly reduced overhead. The selected metamaterial resonators are found to be very flexible and reconfigurable, even in the case of large substrate conductivity losses, whereas their contribution to the system’s total efficiency is decisive.