Iglesias, too, sounded confident that he's ready to resume his regular role.
"The swelling is better," he said. "Good to go."
Thursday marked Iglesias' first action since last Saturday, when he banged knees with Astros first baseman Chris Carter running out an infield single.
If there was still a question, the Tigers could have kept Machado and optioned out Kyle Ryan, who pitched three-plus innings Thursday in place of Alfredo Simon. With Simon still on the family emergency list and his status uncertain for next week, however, the Tigers preferred to keep Ryan around.
Detroit could have also placed Iglesias on the disabled list retroactively and given him more time, though he still would have had to miss another week and a half as a result.
"Every time sitting is tough," Iglesias said. "You don't want to be on the bench. You want to be out there. But things happen in the game."
Machado is scheduled to fly back and join the Mud Hens in Indianapolis on Saturday. He went 1-for-7 with a walk and a strikeout over the three-game series in Oakland. In the field, he converted 11 of 12 chances with an error and two double plays, all at shortstop.
"I think the first game he had a little bit of jitters. After the first game, he was fine," Ausmus said. "He's exactly what we thought he was in Spring Training. He gave us good at-bats, got his first hit out of the way, played solid defense."
Jason Beck is a reporter for MLB.com. Read Beck's Blog, follow him on Twitter @beckjason and listen to his podcast. This story was not subject to the approval of Major League Baseball or its clubs.