Could you check the Keithley source instrument manual, please? In short, sense hi/ lo and force hi/lo refers to for four probe or connector sensitive measurements or two probe or conector normal measurements. From manual you can find out the details how to do.
As Xuhua said for the instrument connection modes refer to it manual. Generally, high refer to the the higher potential terminal ans source low is the lower potential side. So force high/ force low are the two terminal source connection with force high is at higher potential than force low. Sense high is the terminal of the higher potential of the meter and sense low is the lower potential terminal of the meter.
It is evident that this is the polarity of the instrument connections.
Typically Force is the current cables, Sense is the voltage cables. Lo are the grounded cables, Hi is where voltage is applied w.r.t. Lo. So Hi only has a higher voltage than Lo if you apply a positive voltage.
Sense is usually connected to force internally with a small resistor. You do not need to use sense cables, if you accept voltage measurements with errors about 0.1 V. The error comes from contact potentials, and wires and contact resistances, so 0.1 is just a rough estimate.