The calculation of acoustic radiation force and acoustic radiation torque is an important basis for the precise manipulation of particles. It is difficult to directly apply the partial-wave series expansion method based on the classical acoustic scattering theory to the study of complicated models, while pure numerical methods are not conducive to the parametric analyses of the system. Based on the basic principle of Born approximation, the expressions of acoustic radiation force and torque acting on an arbitrary particle located in the center of a zero-order Bessel standing wave field are derived at low frequencies. On this basis, the numerical simulations are systematically performed by taking spherical, spheroidal and cylindrical particles as examples. The effects of inhomogeneity on the acoustic radiation force and torque are also investigated. The simulation results show that the Born approximation method has a high accuracy in the low frequency range. As the frequency increases and the impedance matching between the particle and the fluid becomes worse, the accuracy of Born approximation will gradually decrease. An acoustic radiation torque caused by asymmetry will be exerted on spheroidal and cylindrical particles obliquely positioned in a zero-order Bessel standing wave field. When the particle size is much smaller than the wavelength, the acoustic radiation force is nearly independent of the particle shape, but this is not the case for acoustic radiation torque. Finally, viscous effect of the surrounding fluid is introduced and the expression of acoustic radiation force is corrected accordingly. The study is expected to provide a theoretical guide for the precise manipulation of small particles using standing wave acoustic tweezers in biomedicine and material sciences.