Fortepiano produces sound by hammers striking the strings. Fortepiano's escapement action allows the hammers to fall back into their position after striking the strings. Modern piano was invented in Romantic period and in 1821, Erard Brothers from Paris invented the double escapement action.
The size of fortepiano increased from 5 to 5.5 to 6 to 6.5 octaves, while modern piano has the size of 7 octaves.
Also, sostenuto pedal was added by Claude Montal to the modern piano.