diff --git a/hrplib/hrpModel/ModelNodeSet.h b/hrplib/hrpModel/ModelNodeSet.h
index b40ef6666..cd3973cb9 100644
--- a/hrplib/hrpModel/ModelNodeSet.h
+++ b/hrplib/hrpModel/ModelNodeSet.h
@@ -16,7 +16,12 @@
 
 #include <vector>
 #include <boost/shared_ptr.hpp>
+#include <boost/version.hpp>
+#if (BOOST_VERSION >= 103900)
+#include <boost/signals2/signal.hpp>
+#else
 #include <boost/signals.hpp>
+#endif
 #include <hrpUtil/VrmlNodes.h>
 #include <hrpUtil/Eigen4d.h>
 #include "Config.h"
@@ -68,7 +73,11 @@ namespace hrp {
            @note エラー発生時のメッセージはこのシグナルではなく例外によって処理される。
            @endif
         */
+#if (BOOST_VERSION >= 103900)
+        boost::signals2::signal<void(const std::string& message)> sigMessage;
+#else
         boost::signal<void(const std::string& message)> sigMessage;
+#endif
 
         class Exception {
         public:
diff --git a/hrplib/hrpUtil/TriangleMeshShaper.h b/hrplib/hrpUtil/TriangleMeshShaper.h
index 93c8d485e..30e5ced66 100644
--- a/hrplib/hrpUtil/TriangleMeshShaper.h
+++ b/hrplib/hrpUtil/TriangleMeshShaper.h
@@ -17,7 +17,12 @@
 #include "config.h"
 #include "VrmlNodes.h"
 #include <string>
+#include <boost/version.hpp>
+#if (BOOST_VERSION >= 103900)
+#include <boost/signals2/signal.hpp>
+#else
 #include <boost/signal.hpp>
+#endif
 
 namespace hrp
 {
@@ -36,7 +41,11 @@ namespace hrp
         SFNode getOriginalGeometry(VrmlShapePtr shapeNode);
         void defaultTextureMapping(VrmlShape* shapeNode);
         
+#if (BOOST_VERSION >= 103900)
+        boost::signals2::signal<void(const std::string& message)> sigMessage;
+#else
         boost::signal<void(const std::string& message)> sigMessage;
+#endif
         
         bool convertBox(VrmlBox* box, VrmlIndexedFaceSetPtr& triangleMesh);