The pip wheels exist at the linked location (e.g. here 5 is the Python3.9 pip wheel for Linux) and your posted command also works fine for me:
pip install torch==1.10.1+cu102 torchvision==0.11.2+cu102 torchaudio===0.10.1+cu102 -f https://download.pytorch.org/whl/cu102/torch_stable.html
Looking in links: https://download.pytorch.org/whl/cu102/torch_stable.html
Collecting torch==1.10.1+cu102
  Downloading https://download.pytorch.org/whl/cu102/torch-1.10.1%2Bcu102-cp38-cp38-linux_x86_64.whl (881.9 MB)
     |████████████████████████████████| 881.9 MB 34 kB/s              
Collecting torchvision==0.11.2+cu102
  Downloading https://download.pytorch.org/whl/cu102/torchvision-0.11.2%2Bcu102-cp38-cp38-linux_x86_64.whl (23.2 MB)
     |████████████████████████████████| 23.2 MB 12.5 MB/s            
Collecting torchaudio===0.10.1+cu102
  Downloading https://download.pytorch.org/whl/cu102/torchaudio-0.10.1%2Bcu102-cp38-cp38-linux_x86_64.whl (2.9 MB)
     |████████████████████████████████| 2.9 MB 14.4 MB/s            
Requirement already satisfied: typing-extensions in ./miniforge3/envs/tmp/lib/python3.8/site-packages (from torch==1.10.1+cu102) (4.0.0)
Collecting pillow!=8.3.0,>=5.3.0
  Using cached Pillow-8.4.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (3.1 MB)
Collecting numpy
  Using cached numpy-1.21.5-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl (15.7 MB)
Installing collected packages: torch, pillow, numpy, torchvision, torchaudio
  Attempting uninstall: torch
    Found existing installation: torch 1.10.0
    Uninstalling torch-1.10.0:
      Successfully uninstalled torch-1.10.0
  Attempting uninstall: torchaudio
    Found existing installation: torchaudio 0.10.0
    Uninstalling torchaudio-0.10.0:
      Successfully uninstalled torchaudio-0.10.0
Successfully installed numpy-1.21.5 pillow-8.4.0 torch-1.10.1+cu102 torchaudio-0.10.1+cu102 torchvision-0.11.2+cu102

I don’t know if you might be facing a Python version mismatch (supported versions are 3.6-3.9), are using a 32bit Python installation, or outdated pip versions, which can’t find the wheels.