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For example, the starting companion for the Wood Elf (her brother iirc?) can only wield swords or axes. You give him one by opening your inventory, then drag and drop the weapon from your inventory onto his face icon at the top-right of the UI. If he can use it, you will see him holding the weapon.
Dunno if that is what is going on w/ Wilbur, but hope it helps.
Either give Wilbur a 2-hand sword, or give him a 1-hand sword and a shield.
The other companions you will get can be given weapons that fit their class of character.
Wilbur can use more than just swords, I usually give him a bow so that he can't go melee and risk to be poisoned (because sometimes happened that the corpse became dust, making it impossible for him to respawn, blocking the main quest from proceding...), that said, he can use other weapons as long as he meet the requirements to handle them.