Sigmocheir furcata was described by Rowland M. Shelley in 1995 based on samples collected by R. E. Graham from Williams cave inCalaveras County in 1963. As with other members of the genus, S. furcata has a distinctive trimaculate pattern with an ovoid mid-tergite yellow spot and yellow paranota. Compared to other members of the genus the paranota on S. furcataarise slightly lower on the tergites giving the millipedes a slightly more domed appearance. The species has light colored/white legs and antennae, and the antennae are rather long, reaching back to the third tergite.