Nobody knows whether the universe is finite or not. I'm not sure where you heard that it isn't, but that is a common assertion without evidence for it or against it. (And it's often used as a metaphor for philosophical purposes and such, or in figurative exaggeration such as that it's so big compared to us that it might just as well be infinite, so sometimes it can sound like someone's saying that even if (s)he doesn't mean it.)

If it's infinite, then we can't be near its fringes or its middle because it doesn't have them. If it's finite, then we can be, but nobody knows in that case what's beyond it or what the edges are like, and it's even possible that it's finite but still without edges or a middle (due to some funky way of wrapping around itself... which could mean that we'd see two of some objects in opposite directions with light looping around like Pac-Man traveling off the right side of the screen and in from the left side, but we don't have any way to determine that right now). A recently-discovered very large area with a serious shortage of galaxies in it compared to other areas of our field of view has been described as a possible sign of a boundary of the universe, in which case we would be closer to it in that direction than we are in the other directions. There's also a tiny variability in the nature of the microwave background radiation based on what direction you look in, but I haven't seen whether that's thought of as indicating our position in a finite universe, or our movement relative to the biggest frame of reference of all, or something else.

What we can be described as "on the fringes of" is our galaxy, although others would describe our galactic position as more like halfway between the middle and the edge.