A 110-year-old patent has inspired a new robotic hand that can securely grip objects of any shape without the need for complex motorised joints. The inspiration for the device dates back to 1913, when a now-expired US patent was granted on an invention for "obtaining intimate contact with, engaging, or clamping bodies of any shape". The original design consists of a nested arrangement of pivoting semi-circles in diminishing sizes, each of which could individually rotate to form a contour that securely grasps any shape.

This paper, and its companion, propose a new fractal robotic gripper, drawing inspiration from the century-old Fractal Vise. The unusual synergistic properties allow it to passively conform to diverse objects using only one actuator. Designed to be easily integrated with prevailing parallel jaw grippers, it alleviates the complexities tied to perception and grasp planning, especially when dealing with unpredictable object poses and geometries. We build on the foundational principles of the Fractal Vise to a broader class of gripping mechanisms, and also address the limitations that had led to its obscurity. Two Fractal Fingers, coupled by a closing actuator, can form an adaptive and synergistic Fractal Hand. We articulate a design methodology for low cost, easy to fabricate, large workspace, and compliant Fractal Fingers. The companion paper delves into the kinematics and grasping properties of a specific class of Fractal Fingers and Hands.