Very recently, the construction of twist actuators from magnetorheological gels and elastomers has been suggested. These materials consist of magnetizable colloidal particles embedded in a soft elastic polymeric environment. The twist actuation is enabled by a net chirality of the internal particle arrangement. Upon magnetization by a homogeneous external magnetic field, the systems feature an overall torsional deformation around the magnetization direction. Starting from a discrete minimal mesoscopic model set-up we work towards a macroscopic characterization. The two scales are linked by identifying expressions for the macroscopic system parameters as functions of the mesoscopic model parameters. In this way, the observed behavior of a macroscopic system can in principle be mapped to and illustratively be understood from an appropriate mesoscopic picture. Our results apply equally well to corresponding soft electrorheological gels and elastomers.