Three of the companions' armour styles are fairly easy to identify:
Lyris wears standard Imperial heavy armour, and a Nord two-handed axe.
Sai Sahan seems to wear a custom version of Redguard heavy armour and a custom Redguard-style sword
Varen Aquilarios is said to wear Moth Priest robes, and an Imperial staff.
But what style does Abnur Tharn have? His armour looks completely custom, while his staff looks Khajiit(!)