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Yorda 
, elfin eared, thin, pale to the point of ephermerality princess of the castle. She is taller than Ico and is said to be in her early teens. She has been kept in a cage suspended high in the air until Ico frees her. She speaks an unknown language and depends heavily on Ico from protection from the wraiths, that are sent after her by the Queen, who refuses to allow Yorda to leave the castle.
The only thing I could think of for her name is. Romanized as 'yoru da', an informal way of saying 'it is night'. This may work for Yorda considering she spent her life within the dark castle, never having been outside until Ico rescues her.
romanized as 'yoru' meaning 'to depend on'. She relies on Ico to help her throughout most of the game.