However, he failed to build on that performance and did not pick up a single wicket in his next two matches, leaking runs at a rate around 10 per over.
Joseph, 22, dislocated his right arm while fielding in the five-wicket loss to Rajasthan Royals over the weekend.
Hendricks, who previously played for IPL side Kings XI Punjab in 2014 and 2015, has played 10 Twenty20 internationals for South Africa, picking up 16 wickets.
Mumbai, who are third in the standings, next play Chennai Super Kings away on Friday.
(Reporting by Rohith Nair in Bengaluru; Editing by Christian Radnedge)
