In a teleoperation system, choosing a device acting on the hand as the master is considered intuitive and convenient. In this work, a lightweight three-finger exoskeleton hand is designed to serve as the master device to control the slave microgripper. The exoskeleton hand is wearable on human fingers without mechanical constraints. An individual closed-loop kinematic chain is fitted to each joint of the exoskeleton, and angle sensors are embedded for acquiring flexion/extension and adduction/abduction angles of the fingers. The exoskeleton is modeled as a linkage mechanism, and the DH parameter method is used to derive the fingertip positions. On such a basis, the teleoperation system is constructed by the designed exoskeleton and in-house microgripper. Displacement experiments verify the slave hand can follow the motion of the master hand within a 3% error. This work is a rare application of teleoperation on electrically driven microgrippers and provides a new idea for micromanipulation system design.