The Tales of Xillia official site has been updated with Elise and Tipo's character profiles, as well as a page on their hometown, Ha Mil.
First off, their names have been officially romanized as Elise Lutus and Tipo. You can also hear samples of the two's voices... To be honest Tipo's voice hurts my ears. Anyway, from Elise's voice samples, it seems she's also somewhat attached to Milla as well. You can also have a closer look at the two's hometown, Ha Mil.