Piano beginners need a lot of repetitive exercises of raising and dropping fingers and master the correct piano playing actions to master piano skills with the help of teachers and repeat the training. The training intensity of this method is strong and monotonous, and the teaching effect is related to teachers' experience. In recent years, the research of exoskeleton manipulator used to assist human hand has gradually increased. But there are some problems, such as complex structure, low motion accuracy, lack of feedback and motion evaluation. Firstly, leap motion is used to build the measurement platform of finger touching action. And the finger touching action parameters value can be collected and then get the finger touching key motion curve. Then, an exoskeleton piano teaching manipulator is designed. Finally, the simulation analysis and piano playing experiment of the piano teaching manipulator verify that the piano teaching manipulator has reliable structure, high action accuracy and can meet the requirements of piano playing practice. The structure of the manipulator is simple and easy to wear, which can meet the requirements of finger touching piano in teaching process, and assist the beginners to learn by themselves.