By means of neutron scattering measurements, we have investigated spin-wave excitation in a collinear four-sublattice (4SL) magnetic ground state of a triangular lattice antiferromagnet CuFeO2, which has been of recent interest as a strongly frustrated magnet, a spin-lattice coupled system and a multiferroic. To avoid mixing of spin-wave spectrum from magnetic domains having three different orientations reflecting trigonal symmetry of the crystal structure, we have applied uniaxial pressure on [1-10] direction of a single crystal CuFeO2. By elastic neutron scattering measurements, we have found that only 10 MPa of the uniaxial pressure results in almost 'single domain' state in the 4SL phase. We have thus performed inelastic neutron scattering measurements using the single domain sample, and have identified two distinct spin- wave branches. The dispersion relation of the upper spin-wave branch cannot be explained by the previous theoretical model [R. S. Fishman: J. Appl. Phys. 103 (2008) 07B109]. This implies the importance of the lattice degree of freedom in the spin-wave excitation in this system, because the previous calculation neglected the effect of the spin-driven lattice distortion in the 4SL phase. We have also discussed relationship between the present results and the recently discovered "electromagnon" excitation. ; Comment: 5 pages, 3 figures, accepted for publication in J. Phys. Soc. Jpn