A multilinear actuator transmits a force in several directions, and includes complementary actuating strands made of flexible material and provided on a first face with spaced studs, the actuating strands being located opposite each other, the studs meshing with one another, and transverse faces of one stud bear against respective rear and front transverse faces of adjacent studs of the other actuating strand, defining a straight section in which the two actuating strands are rigidly connected, so that the straight section behaves like a rigid bar, said actuating strands including on an outer face, regularly spaced teeth, the actuator including one driving member per actuating strand, meshing with the teeth of the second face of one of said actuating strands to translate said actuating strand, the actuator including a straight section and a straight section in which the actuating strands are meshed, and a curved region located between the straight sections in which the actuating strands are spaced apart.