I know the thing at the bottom is Wisp (the soul of King Wilmgard) but I'm not sure which to tag it as. The old man is King Wilmgard in a rather human looking form. The girl that's panting in panel 4 is Maria. Other than that, I don't think it's possible to tell who the others are without a translation. There are a lot of Knights that can join you in this game and unless I knew everyone in there and what they looked like, I can't be of help.
First panel is Lillian I. Amnoble, Duelist. Third panel on the right is Crozeph Ross Arlay, Lance Knight. Fourth panel from left to right is Lillian I. Amnoble, Annalot Ella Permeal, Maria.