Many automatic guitar playing robots have been developed. These include fully-automatic and semi-automatic types, but in this research, we are developing a device in which the robot performs the fingerings to press the strings, while the picking is done by a human. While fully automatic robots are only for viewing, this device is semi-automatic, allowing the user to experience playing. Although there have been devices that can press chords at the 4th fret, we have developed a guitar device that can press up to the 22nd fret by designing it. This allows the user to play the lead guitar part. Users can easily enjoy guitar solos, etc.