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Masaki Satō had a direct hand in animating Goku’s first Super Saiyan transformation on Namek in Dragon Ball Z Episode 95. He was one of the episode’s key animators, working under animation supervisor Minoru Maeda alongside animators including Katsuyoshi Nakatsuru.
More importantly, Satō has specifically discussed that transformation as his sequence, not merely an episode he happened to work on. He said that while constructing the scene, he took inspiration from tokusatsu, particularly Kamen Rider Black. One of his personal additions was incorporating the Great Ape/Oozaru-like roar into Goku’s transformation. He even joked that some of what he added went beyond the original storyboard.
So the division is roughly:
* Akira Toriyama created the Super Saiyan transformation and the manga sequence.
* Shigeyasu Yamauchi handled Episode 95’s direction/storyboarding.
* Minoru Maeda was the animation supervisor.
* Masaki Satō was a key animator responsible for bringing the actual transformation sequence to life, expanding the comparatively brief manga moment into the dramatic, violent physical metamorphosis we see onscreen.