victim - who has not been identified - has been returned to his family

The four black friends believed to be behind the disturbing torture of a white special needs man in a Facebook live video have been identified and charged with committing a hate crime.

Jordan Hill, 18; Tesfaye Cooper, 18; and sisters Birttany, 18, and Tanisha Covington, 24, were charged Thursday morning with aggravated kidnapping, aggravated unlawful restraint, aggravated battery and a hate crime, according to the Cook County State's Attorney's Office. Hill was also charged with robbery and possession of a stolen motor vehicle. He, Cooper and Brittany Covington face additional charges of residential burglary.

The four are set to face a judge for the first time Friday afternoon at 1pm Central Time for a bond hearing.

Scroll down for video

The four young friends suspected of torturing a special needs man in a Facebook live video have been identified and charged. Two of the suspects pictured above: Sisters Brittany Covington, 18 (left) and Tanisha Covington, 24 (right)

The two men in the attack have been identified as Tesfaye Cooper, 18 (left), and Jordan Hill, 18 (right), who knew the victim

The unidentified victim was found wandering the streets on Wednesday after he escaped. Above, a grab from the live stream of the torture

Chicago authorities revealed more about the disturbing incident at a Thursday afternoon press conference.

At the press conference, it was revealed that the unidentified victim and Hill were 'acquaintances' who had hung out a few times before. The two knew each other from attending a school together in Aurora, Illinois at one point.

The victim's parents dropped him off at a McDonald's in Streamwood on Saturday so that he could spend the night with Hill. He was reported missing on Monday when they could not get into contact with their son.

When Hill picked the victim up, he was driving a stolen van - something the victim apparently did not know. For the first two days, the two hung out visiting friends and the victim reportedly slept in the van at nights.

Things took a turn on Tuesday, when they visited the West Chicago residence of the Covington sisters. A few hours after they arrived at the house, where Cooper was as well, Hill and the victim got into a play fight that then escalated.

That's when the sisters tied him up and the group started torturing him for about six hours. Half an hour of this torture was live-streamed on Facebook, showing the group beating the young man, cutting off a piece of his scalp, forcing him to drink toilet water. At one point in the video, one of the four yells 'f*** Donald Trump. F*** white people' at the victim.

Chicago Police Superintendent Eddie Johnson called the act 'reprehensible' at a Thursday press conference

Police says the young man made so much noise as he was being tortured that the downstairs neighbors eventually called police to report the noise.

The group became angered with the downstairs neighbors, and three of them went downstairs to kick the neighbor's door in. It was at this moment that the victim was able to make a break for it.

Outside of the residence, a police officer saw the victim 'bloodied and bruised', wearing a tank top and shorts in the dead of winter, so he decided to walk up and see what was wrong.

The officer was then able to ascertain that the victim was the missing man from Streamwood.

Police were not able to elaborate at the Thursday press conference on previous reports that stated the group texted the victim's parents while they were holding him hostage.

Also Thursday, President Obama told CBS that he had seen the video, but that the 'despicable' actions seen in the footage did not signal a worsening of US race relations.

On Thursday President Obama said he believed the 'despicable' actions seen in the video were examples of long-existing hatred, and not a sign of US race relations getting worse

'I don't think it's accurate to say race relations are getting worse,' he told host Jay Levine, saying things were also difficult in Chicago in the mid-1980s, when a block of white councilmen deliberately scuppered all proposals by a black mayor.

'In part because we see visuals of racial tensions, violence and so forth because of smart phones and the Internet,' the president said.

'What we have seen as surfacing, I think, are a lot of problems that have been there a long time.

'Whether it's tensions between police and communities, whether it's hate crimes of the despicable sort that has just now recently surfaced on Facebook.'

He added: 'The good news is that the next generation that's coming behind us … have smarter, better, more thoughtful attitudes about race.

'I think the overall trajectory of race relations in this country is actually very positive. It doesn't mean that all racial problems have gone away. It means that we have the capacity to get better.'

The victim was seen cowering in a corner with his arms tied and mouth taped shut. He was filmed being kicked, punched and cut on his scalp with a knife - the knife is circled

In another video that surfaced Wednesday night, the torturers force the victim to drink water from a toilet

The unidentified victim was able to make a break for it when the downstairs neighbors reported the noise to police

The four friends arrested in the incident have allegedly expressed no remorse for the torture

The victim, who was friends with Jordan Hill from school, has been returned to his parents

At the Tuesday afternoon press conference, a police spokesman said that the four suspects copped to the torture in their police interviews and none expressed remorse.

'The actions in that video are reprehensible. That along with racism have absolutely no place in the city of Chicago or anywhere else for that matter, against anyone regardless of their race, gender, state of mental health or any other identifying factor,' Police Superintendent Eddie Johnson said Thursday.

The footage shows the four black people allegedly holding the white man hostage in an apartment on the 3400 block of West Lexington on Chicago's West Side on Tuesday.

It was originally posted on Facebook Live by Brittany Covington (who goes by the last name Herring on Facebook) but has since been deleted from her social media page.

In the first video, the victim was seen cowering in a corner with his arms tied and mouth taped shut.

He was filmed being kicked and punched before he had his hair cut until his scalp bled.

The victim also had his clothes cut and had cigarette ash flicked over the wound on his head.

The suspects are pictured above in the live video. Clockwise from top left: Cooper, Hill, Tanisha Covington and Brittany Covington

Brittany Covington, left, is seen what appears to be a blunt in grabs from the horrifying video

Someone can be heard in the footage yelling 'f*** Donald Trump. F*** white people' while the two men express their hopes that the video will go viral.

Two more clips of the alleged abuse surfaced overnight as well, one of which shows the group forcing the man to drink water out of a toilet.

'It's sickening,' Supt. Johnson said Wednesday night. 'It makes you wonder what would make individuals treat somebody like that. I've been a cop for 28 years, and I've seen things that you shouldn't see in a lifetime, but it still amazes me how you still see things that you just shouldn't.'

On January 2, Tanisha Covington (right) posted these pictures of her partying with her little sister Brittany (left)

Tanisha's son, pictured with a relative, appears to have a health issue, according to photos she has posted on Facebook

He added: 'I'm not going to say it shocked me, but it was sickening.'

Police said the victim was treated and released from hospital into the care of his parents, who live in the suburb of Crystal Lake.

White House press secretary Josh Earnest says the beating demonstrates 'a level of depravity that is an outrage to a lot of Americans.'