Shape memory response and hierarchical motion capabilities of 4D printed auxetic structures

•4D printed programmable shape memory polymer-based auxetics are investigated.•The shape memory polymer displays the temperature memory effect.•A negative 'Poisson's ratio equal to about −0.18 is found.•Sequential in-plane and out-of-plane motions of auxetics can be easily programmed.•Results are general and can be applied to any auxetic geometry.