Abstract Despite thriving development in academic and practical scenarios. multi-joint underactuated manipulators is still struggling with grasp stability. especially in case of heavy or irregular-shaped objects. A gripper with fractal morphology is invented to improve the grasping capacity of multi-joint underactuated manipulators. https://www.jmannino.com/limited-save-Footjoy-Full-Zip-Knit-Weste-Herren-top-mega/