| Model | T140A Standard Model | T140A Flagship Model |
| Total height | 1.4m | 1.4m |
| gross weight | 45kg | 45kg |
| Arm span | 1.26m | 1.26m |
| Total number of degrees of freedom | 42 | 42 |
| Single-arm load | 3kg | 3kg |
| Number of joint motors | 30 | 30 |
| speed of travel | 1 m/s for both feet | 1 m/s for both feet |
| Hand load | 1.5KG | 1.5KG |
| End-effector repeatability | ≤0.3mm | ≤0.3mm |
| Dexterous Hand | High-precision dexterous hand (small) | High-precision dexterous hand (small) |
| Dexterous hand automation | 6 | 6 |
| End-effector sensors of both arms | / | Six-dimensional force * 2 |
| Joint driver type | harmonic | harmonic |
| Joint encoder resolution | 16/18bit | 16/18bit |
| Head visual perception | / | Intel RealSense D435i*1 |
| Wrist visual perception | / | Intel RealSense D450*2 |
| Obstacle avoidance perception | / | have |
| Control and computing power | Jeston AGX Orin 64G Developer Kit | Jeston AGX Orin 64G Developer Kit |
| Structural material | Structure: Aluminum alloy, etc. Shell: ABS, etc. | Structure: Aluminum alloy, etc. Shell: ABS, etc. |
| Communication Protocol | Joint CAN/EC, Hand 485/CAN | Joint CAN/EC, Hand 485/CAN |
