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Chinavia hilaris
This small flying bug, less than an inch long, landed on my hand. The 2nd picture -- just for fun -- shows it against the vastness of New York Harbor.
Scrub
I looked up images of green shield bugs at various stages of development and none match the bug I saw. But I do think you might be right about it being some kind of True Bug and also about it being a nymph.
somehow these guys look similar: http://www.projectnoah.org/spottings/638... and http://www.projectnoah.org/spottings/640...
hmm, doesn´t look like it is able to fly, I think it fell. it is a nymph (immature) of some sort of shield bug