Jaken

Sesshomaru's minion. Jaken has been referred to repeatedly as an imp or kappa, sharing many traits with that of a toad. Although he has no power of his own, he does wield Sesshomaru's staff of two heads, in which can spout fire on command (also used to locate the Inu no Taisho's grave). Jaken was apparently a leader of his own demon tribe, intent upon waging a war, when Sesshomaru came through the battlefield. Heeding Sesshomaru's warning "Move aside, you're in my way", the tribe was spared. Jaken was immediately smitten by Sesshomaru and followed him like a lost puppy.

from the official website: http://www.furinkan.com/iycompanion/misc In the series, Sesshomaru's retainer, Jaken uses a weapon known as the "Staff of Two Heads". Originally the staff was used to to search for the black pearl which granted entrance into Inuyasha's father's tomb. Even though Inuyasha is a work of fiction, the Staff of Two Heads actually does exist. It can be found on display at the Kamakura Museum of National Treasure.
 * The Staff of Two Heads

Little is known as to exactly why Sesshomaru keeps such an annoying servant in his midst, since he has proven many times over that he does not need any aid. Though now that Rin has joined their duo, Jaken has proved his usefulness as her caretaker and often is seen watching her with Ah-Un while Sesshomaru is gone, tutoring her on the greatness of Sesshomaru and the evils of Inuyasha and Naraku.

Jaken wears traditional Court apparel for the era: A Formal Court Hat called tate-eboshi; Kosode (Shirt); Trousers called nu-bakama or sashinuki (bloused) hakama; with an overgarment simply called a jo-e (item 2 in the picture), with corded sleaves called jo-e no sode-gukuri no o (item 3 in the picture):
 * Apparel