diff --git a/hrpsys_choreonoid/src/JAXONCustomizer.cpp b/hrpsys_choreonoid/src/JAXONCustomizer.cpp
index 09944c64..9d702322 100644
--- a/hrpsys_choreonoid/src/JAXONCustomizer.cpp
+++ b/hrpsys_choreonoid/src/JAXONCustomizer.cpp
@@ -2,6 +2,8 @@
 
 #include <cmath>
 #include <cstring>
+#include <string>
+#include <vector>
 #include <fstream>
 #include <boost/function.hpp>
 #include <boost/bind.hpp>
@@ -56,18 +58,15 @@ struct JointValSet
   double* valuePtr;
   double* velocityPtr;
   double* torqueForcePtr;
+  double spring;
+  double damping;
 };
 
 struct JAXONCustomizer
 {
   BodyHandle bodyHandle;
 
-  bool hasVirtualBushJoints;
-  JointValSet jointValSets[2][3];
-  double springT;
-  double dampingT;
-  double springR;
-  double dampingR;
+  std::vector<JointValSet> jointValSets;
 
   double tilt_upper_bound;
   double tilt_lower_bound;
@@ -101,30 +100,55 @@ static const char** getTargetModelNames()
   return names;
 }
 
-static void getVirtualbushJoints(JAXONCustomizer* customizer, BodyHandle body)
+static void getVirtualbushJoints(JAXONCustomizer* customizer, BodyHandle body, const YAML::Node& param)
 {
-  customizer->hasVirtualBushJoints = true;
+  double default_springT  = 1.1e6; // N/m
+  double default_dampingT = 1.1e3; // N/(m/s)
+  double default_springR  = 2.5e3; // Nm / rad
+  double default_dampingR = 2.5;   // Nm / (rad/s)
+  if (param && param["bush"]) {
+    if (param["bush"]["springT"]) default_springT = param["bush"]["springT"].as<double>();
+    if (param["bush"]["dampingT"]) default_dampingT = param["bush"]["dampingT"].as<double>();
+    if (param["bush"]["springR"]) default_springR = param["bush"]["springR"].as<double>();
+    if (param["bush"]["dampingR"]) default_dampingR = param["bush"]["dampingR"].as<double>();
+  }
 
-  int bushIndices[2][3];
+  std::vector<std::string> bushes{"RLEG", "LLEG", "RARM", "LARM"};
+  if (param && param["bush"] && param["bush"]["bushes"]) bushes = param["bush"]["bushes"].as<std::vector<std::string>>();
+  std::vector<std::string> types{"X", "Y", "Z", "ROLL", "PITCH", "YAW"};
 
-  bushIndices[0][0] = bodyInterface->getLinkIndexFromName(body, "RLEG_BUSH_Z");
-  bushIndices[0][1] = bodyInterface->getLinkIndexFromName(body, "RLEG_BUSH_ROLL");
-  bushIndices[0][2] = bodyInterface->getLinkIndexFromName(body, "RLEG_BUSH_PITCH");
-  bushIndices[1][0] = bodyInterface->getLinkIndexFromName(body, "LLEG_BUSH_Z");
-  bushIndices[1][1] = bodyInterface->getLinkIndexFromName(body, "LLEG_BUSH_ROLL");
-  bushIndices[1][2] = bodyInterface->getLinkIndexFromName(body, "LLEG_BUSH_PITCH");
+  for(int i=0; i < bushes.size(); ++i){
+    for(int j=0; j < types.size(); ++j){
+      std::string bush_name = bushes[i] + "_BUSH_" + types[j];
+      int bushIndex = bodyInterface->getLinkIndexFromName(body, bush_name.c_str());
 
-  for(int i=0; i < 2; ++i){
-    for(int j=0; j < 3; ++j){
-      int bushIndex = bushIndices[i][j];
       if(bushIndex < 0){
-        std::cerr << "[Customizer] failed to find out : " << i << " " << j << std::endl;
-        customizer->hasVirtualBushJoints = false;
-      } else {
-        JointValSet& jointValSet = customizer->jointValSets[i][j];
+        std::cerr << "[Customizer] failed to find out : " << bush_name << std::endl;
+      }else{
+        std::cerr << "[Customizer] find out : " << bush_name << std::endl;
+
+        JointValSet jointValSet;
         jointValSet.valuePtr = bodyInterface->getJointValuePtr(body, bushIndex);
         jointValSet.velocityPtr = bodyInterface->getJointVelocityPtr(body, bushIndex);
         jointValSet.torqueForcePtr = bodyInterface->getJointForcePtr(body, bushIndex);
+
+        if (j<3) {
+          jointValSet.spring = default_springT;
+          jointValSet.damping = default_dampingT;
+          if (param && param["bush"] && param["bush"][bushes[i]]){
+            if (param["bush"][bushes[i]]["springT"]) jointValSet.spring = param["bush"][bushes[i]]["springT"].as<double>();
+            if (param["bush"][bushes[i]]["dampingT"]) jointValSet.damping = param["bush"][bushes[i]]["dampingT"].as<double>();
+          }
+        } else {
+          jointValSet.spring = default_springR;
+          jointValSet.damping = default_dampingR;
+          if (param && param["bush"] && param["bush"][bushes[i]]){
+            if (param["bush"][bushes[i]]["springR"]) jointValSet.spring = param["bush"][bushes[i]]["springR"].as<double>();
+            if (param["bush"][bushes[i]]["dampingR"]) jointValSet.damping = param["bush"][bushes[i]]["dampingR"].as<double>();
+          }
+        }
+
+        customizer->jointValSets.push_back(jointValSet);
       }
     }
   }
@@ -166,38 +190,31 @@ static BodyCustomizerHandle create(BodyHandle bodyHandle, const char* modelName)
   customizer = new JAXONCustomizer;
 
   customizer->bodyHandle = bodyHandle;
-  customizer->hasVirtualBushJoints = false;
-
-  customizer->springT  = 1.1e6; // N/m
-  customizer->dampingT = 1.1e3; // N/(m/s)
-  customizer->springR  = 2.5e3; // Nm / rad
-  customizer->dampingR = 2.5;   // Nm / (rad/s)
 
   customizer->tilt_upper_bound = 1.35; // rad
   customizer->tilt_lower_bound = -0.7; // rad
   customizer->tilt_positive_speed = 1.0; // rad/s
   customizer->tilt_negative_speed = -1.0; // rad/s
 
+  YAML::Node param;
   char* config_file_path = getenv("CUSTOMIZER_CONF_FILE");
   if (config_file_path) {
     ifstream ifs(config_file_path);
     if (ifs.is_open()) {
       std::cerr << "[JAXONCustomizer] Config file is: " << config_file_path << std::endl;
-      YAML::Node param = YAML::LoadFile(config_file_path);
-      customizer->springT  = param["bush"]["springT"].as<double>();
-      customizer->dampingT = param["bush"]["dampingT"].as<double>();
-      customizer->springR  = param["bush"]["springR"].as<double>();
-      customizer->dampingR = param["bush"]["dampingR"].as<double>();
-      customizer->tilt_upper_bound    = param["tilt_laser"]["TILT_UPPER_BOUND"].as<double>();
-      customizer->tilt_positive_speed = param["tilt_laser"]["TILT_POSITIVE_SPEED"].as<double>();
-      customizer->tilt_lower_bound    = param["tilt_laser"]["TILT_LOWER_BOUND"].as<double>();
-      customizer->tilt_negative_speed = param["tilt_laser"]["TILT_NEGATIVE_SPEED"].as<double>();
+      param = YAML::LoadFile(config_file_path);
+      if (param["tilt_laser"]) {
+        if (param["tilt_laser"]["TILT_UPPER_BOUND"]) customizer->tilt_upper_bound = param["tilt_laser"]["TILT_UPPER_BOUND"].as<double>();
+        if (param["tilt_laser"]["TILT_POSITIVE_SPEED"]) customizer->tilt_positive_speed = param["tilt_laser"]["TILT_POSITIVE_SPEED"].as<double>();
+        if (param["tilt_laser"]["TILT_LOWER_BOUND"]) customizer->tilt_lower_bound = param["tilt_laser"]["TILT_LOWER_BOUND"].as<double>();
+        if (param["tilt_laser"]["TILT_NEGATIVE_SPEED"]) customizer->tilt_negative_speed = param["tilt_laser"]["TILT_NEGATIVE_SPEED"].as<double>();
+      }
     } else {
       std::cerr << "[JAXONCustomizer] " << config_file_path << " is not found" << std::endl;
     }
   }
 
-  getVirtualbushJoints(customizer, bodyHandle);
+  getVirtualbushJoints(customizer, bodyHandle, param);
 
   return static_cast<BodyCustomizerHandle>(customizer);
 }
@@ -215,18 +232,10 @@ static void setVirtualJointForces(BodyCustomizerHandle customizerHandle)
 {
   JAXONCustomizer* customizer = static_cast<JAXONCustomizer*>(customizerHandle);
 
-  if(customizer->hasVirtualBushJoints){
-    for(int i=0; i < 2; ++i){
-      JointValSet& trans = customizer->jointValSets[i][0];
-      *(trans.torqueForcePtr) = - customizer->springT * (*trans.valuePtr) - customizer->dampingT * (*trans.velocityPtr);
-      //std::cerr << i << " " << 0 << " " << *(trans.torqueForcePtr) << " = " << -customizer->springT << " x " << *trans.valuePtr << " + " <<  - customizer->dampingT << " x " << *trans.velocityPtr << std::endl;
-
-      for(int j=1; j < 3; ++j){
-        JointValSet& rot = customizer->jointValSets[i][j];
-        *(rot.torqueForcePtr) = - customizer->springR * (*rot.valuePtr) - customizer->dampingR * (*rot.velocityPtr);
-        //std::cerr << i << " " << j << " " << *(rot.torqueForcePtr) << " = " << -customizer->springR << " x " << *rot.valuePtr << " + " <<  - customizer->dampingR << " x " << *rot.velocityPtr << std::endl;
-      }
-    }
+  for(int i=0; i < customizer->jointValSets.size(); ++i){
+    JointValSet& bush = customizer->jointValSets[i];
+    *(bush.torqueForcePtr) = - bush.spring * (*bush.valuePtr) - bush.damping * (*bush.velocityPtr);
+    //std::cerr << i << " " << 0 << " " << *(bush.torqueForcePtr) << " = " << -bush.spring << " x " << *bush.valuePtr << " + " <<  - bush.damping << " x " << *bush.velocityPtr << std::endl;
   }
 
   if(customizer->hasMultisenseJoint) {