I think what you have there is ideal, actually. So long as you've created a mental image of these characters and their personalities then that's the first step to creating them.
It isn't easy to create a face from the initial concepts that you've come up with, but you'll find the more you delve into their backgrounds the more you'll gain a clearer picture of their appearance. Once you choose where these characters live, how they were raised etc. then you will be able to adjust their appearance where necessary. As an example, I'll use Furo.
Furo grew up in the quiet town of (_______), a place shrouded amongst the dunes of (_______). Living alone with his father, he was taught to avoid conflict and remain pacifistic to others. At the young age of 10 his town was stormed by the military group, (______). Furo's father caught glimpse of the group and ordered Furo to run and hide. Accepting he was in no position to argue, he ran and hid in a nearby cupboard, the door slightly ajar. He could see the look of despair upon his father's face as a soldier tore into the house. Seconds passed by, but each felt like a lifetime to Furo. The soldier raised his sword and swiftly brought it down upon the father's body, blood spilling to the floor. Without any remorse, the soldier turned, and left.
And from there you get the picture. Furo has a reason for an adventure and a reason to bear weapons and join the party. He's pissed at the military, vowing revenge for his father's blood they carry on their hands. Just a small, short story like that and the character's appearance should become a little clearer. A clear background can also open up to twists. Why was his the village and his father killed? Why would the military go to those measures to stop it etc.
It's a small example, but from that I can draw that he's:
- tanned. Living in a desert. Often tanned characters have a more hostile side to them.
- scars to show his experience with weaponry, battles and the length of his journey.
- spiked, reddish/brown hair. Implies a fiery anger, a desire to seek revenge.
- light armour suited to a desert environment. (Though this could change as he travels the world) His arms are likely to be on display to show his muscle. This will reflect on his innocent, weak nature as a child. He's grown, become strong.
- his name is relevant to his quest.
- he has a reason to team up with the main party (if, of course, they were wanting to overthrow the Empire/Military)
EDIT: I'm making too many edits to this!