The use of acoustic waves to actuate materials without physical contact is relevant in a variety of fields, including assembly, imaging, and holography. Current acoustic manipulation techniques can produce high-precision, non-invasive and non-contact forces, but they are generally limited to small (subwavelength) objects due to the nature of acoustic trapping potentials. In this study, we describe an approach for overcoming these limitations by using metasurfaces to control the refraction of sound waves. We present theory, simulations, and experimental results showing how a deliberately engineered metasurface can steer the momentum of sound waves and therefore control the intensity and the direction of acoustic radiation pressure. To illustrate the potential applications of this concept, we demonstrate acoustic metasurfaces which exhibit dynamical phenomena such as self-guidance and contactless acoustic pulling. We expand this analysis to survey how this concept can be implemented in different metasurface unit cell topologies and how it scales with different acoustic frequencies. Our results combine actuation with acoustic metamaterial physics to provide novel degrees of freedom to control acoustic forces beyond the limits of traditional wave-matter interactions. Nat. Commun. 13, 6533 (2022).