Dermatology Questions? Ask an Online Dermatologist.
If this is the only contact you had, you would not need to worry about HIV. It is transmitted through an exchange of bodily fluids and it does not penetrate the skin.
If you need added reassurance, you should get HIV tested. It is easy and reliable in most places...but you need to wait at least 2 weeks.
This would be a very unusual form of transmission. I don't think you are at any appreciable risk and testing is not necessary. I would do it only to put the issue to rest completely. You will sleep better. :-)