Star ocean 4: heal/revive characters?

During battle you can hit the Y button to bring up the radial menu and access Items which will list all of the Usable Items you have, which will also contain any healing items that you have. Similarly you'll find revive materials (Fresh Sage, Resurrection Elixer, etc...) Edge, Lymle, Myuria and Sarah will all learn at least one type of healing spell that will also be accessed from the Radial Menu under Symbology, or form the main menu out of battle.. Also Sarah and Myuria will eventually learn reviving spell(s).