Aoki singled and scored during Kansas City's seven-run second inning, but he was replaced in right field by Lorenzo Cain before the bottom half.
The 32-year-old Aoki is hitting .261 in his first season with the Royals. They acquired him in an offseason trade with Milwaukee.
Kansas City scored seven runs off Detroit starter Max Scherzer in the second. Alex Gordon and Mike Moustakas hit two-run homers.